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Laboratory 2

Laboratory 2. Group 19 The Group of Destiny. User Interface - Debugging. Objectives: Display: Sensor data (telemetry) – including IR sensors, status of gripper arm, etc Internal variables of on-board system Camera images/footage Command log displaying the commands sent to the robot

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Laboratory 2

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  1. Laboratory 2 Group 19 The Group of Destiny

  2. User Interface - Debugging • Objectives: • Display: • Sensor data (telemetry) – including IR sensors, status of gripper arm, etc • Internal variables of on-board system • Camera images/footage • Command log displaying the commands sent to the robot • Functionality: • Emergency stop button – cancels all pending commands • Single-step-through button – steps through commands on internal stack one at a time

  3. Debugger Mock-up

  4. SRS Document • Based off of Heninger document (A7 Specification) • Outline: • Hardware interfaces – the ThinkPad will connect to the robot API and to the control center via Telnet. • Software functions – description of sample commands, desired functionality of system • Timing constraints – hard to say at this point – in a sequence of actions, each action must execute at its proper time?

  5. SRS Document (cont’d) • Response to undesired events • loss of communication should be handled, should stop and wait for message from control station • Incorrect commands should be noticed and rejected, and the commanding system should be notified of the error • Subsets – gripper, cameras, IR sensor system, movement, control center communication – linked via the laptop’s code • Fundamental assumptions – the API works as described in the documentation, that incoming commands will fit our decoding assumptions • Add-ons (e.g., video link to control station, real time control)

  6. Use Cases • Actors • Human • Control Station • Robot • Actor Goals • Human – explore hazardous areas • Control Station • Real-time motion control of the robot. • Display video from the robots cameras. • Display/monitor robot status telemetry. • Deal with system failure situations

  7. Use Cases (cont’d) • Actor Goals (cont’d) • Robot • Real-time motion based on immediate commands from the control station. • Operate peripherals (IR proximity sensors, gripper, etc.). • Capture and transmit video and images. • Protect itself from damage. • Deal with problems such as loss of communications. • Monitor system status (battery voltages, software status, etc.) • Extensive facilities for remote debugging of the on-board software. • A user interface that provides control-station access to the on-board debugging system. • An on-board autopilot capability, i.e., plan motion paths and follow them. • An image library, i.e., a capability to display, archive, and search received images. • Create, check, store, retrieve and uplink motion, peripheral, and camera command sequences. • A VCR mechanism for camera video. • Create map containing previous movements

  8. Use Cases (cont’d) • Sample Use Case

  9. Communications Protocol • Description • Connectivity via telnet • Messages • “Stay alive” command • Telemetry stream • Message format • Debuggery • Group synergy • Milestones

  10. Management Report • Meeting Reports • Group Contributions • Results of Lab Time • Pledge/Approval Sheet

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