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The Mitre Meteor Robot Control Software “Simulate As You Operate”

The Mitre Meteor Robot Control Software “Simulate As You Operate”. Presented by Darrell L Sims Richard M. Weatherly Frederick S. Kuhl Robert H. Bolling Robert J. Grabowski. Overview. Background Information Approach Goals Software Employment Phases The Tortuga Framework Conclusion.

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The Mitre Meteor Robot Control Software “Simulate As You Operate”

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  1. The Mitre Meteor Robot Control Software “Simulate As You Operate” Presented by Darrell L Sims Richard M. Weatherly Frederick S. Kuhl Robert H. Bolling Robert J. Grabowski

  2. Overview • Background Information • Approach • Goals • Software Employment Phases • The Tortuga Framework • Conclusion

  3. Background Information • The Defense Advancement Research Projects Agency (DARPA) challenge • Mitre a non profit engineering company • Construct and Implement code within 11 months • Develop and created a software known as Meteor

  4. Approach • Employ commercial solutions • Tortuga Framework • Java thread agent • Apply main focus to certain areas and fan out the rest • Incremental “model-simulate test” • Model by simulating and replaying • Test in real situation • Craft the control software and execution environment • Receiving maximum utility from software developement

  5. Software Employment Phases • Primary Goal: Create a single body of code that employed operational, developmental and analytical phases • The development team must achieve three goals • Build real time code • Support robot control algorithms • Record operational data from the field

  6. Operational Employment • Produce vehicle command control and populate agent process sensor inputs • Look outs • -I/0 with physical sensors • Watch officers • Receive Data • Executives • Assess the system state • Wait time to pass

  7. Operational Employment Diagram • Introduction • Goals • Problem • Possible Solutions

  8. Development Employment • Laser Sensor Model • Evaluates changing vehicle location and orientation values to produce geometric values • Determines whether static collection of obstacles • GPS models • Compute velocity, orientation, and location • Wheel Rotation Model • Analysis of acceleration values to convey displacement

  9. Development Employment

  10. Analytical Employment • Record Messages using the “Replayer” • Managed sensors removed from the software • Using controls found in Tortuga, which set the ratio from simuation time to real time • Tortuga Framework • A product of Mitre sponsored simulation software • Written in Java and incorporates third party open source software • Used as simulation software for air traffic control and military analysis

  11. Analytical Employment Diagram

  12. Features of Tortuga • Action methods and triggers • Action methods • Issued upon a simulation entity • Represent the occurrences of exogenous events or interruptions • Ex: arrival of messages • Triggers • Boolean predicate • Wait in system until a certain condition arises • Ex: Entities being with range of a sensor

  13. Conclusion • The simulation structure “process-interaction” method • Future Event List for movement upon arrival • Achieve the employment transparency by a single body of code • Messages communicated through Java Threads • Lost the race

  14. Questions?

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