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LAIR Communication with Test Case and Simulator

LAIR Communication with Test Case and Simulator. Thesis overview Sean Forsberg. LAIR Background. What is LAIR?. What is LAIR?.

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LAIR Communication with Test Case and Simulator

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  1. LAIR Communicationwith Test Case and Simulator Thesis overview Sean Forsberg

  2. LAIR Background What is LAIR?

  3. What is LAIR? “…research at the LAIR is focused on multi-robot systems and its applications in their field. Within these domains, topics of interest include motion planning, localization, mapping, integration of social systems, and control.” [LAIR Website]

  4. LAIR Research Platform • OceanServer IVER2 • Current Features • Dual CPU • GPS/Compass • Altimeter & Depth Sensor • WiFi & Acoustic Modem • Near Future Additions • Dual-Hydrophone Beacon Detector • Side-Scanning Sensor (for Localization) Source: LAIR Website Source: Sean Forsberg

  5. LAIR Development Goals • Provide a stable, verbose platform for research • Add (and test the capabilities ) new sensors & tech • Dual-Hydrophone Beacon Locator • Acoustic Modem • Integrate a second IVER2 into missions • Develop an API for User CPU Apps • Ensure safe functionality/recoverability of IVER2 • Utilize/Test the IVER2 platform • Various Masters Level research projects • Spark interest of incoming Freshman (CPE123)

  6. Current LAIR Projects • Shark Tracking • Track (chase) a beacon-tagged shark • Phased, Load-Balanced Tasking • Used for optimized search, mapping, and data acq. • Communication • Using Wi-Fi, Underwater Modems (and possibly more) • roboSim • Development environment for research and testing

  7. IVER2 Communication Current State and Goals

  8. Communication Requirements • Cooperative Robots must be able to talk • Dynamic environments • Special protocols must be considered in order to successfully transmit from robot A to robot B • Delay tolerant • Multi-path, redundant ad-hoc routing • Underwater Robots • Water absorbs EM therefore acoustic modems used when submerged (or communicated with other submerged items.) • Acoustic systems still have limited range

  9. Current IVER2 Communication • WiFi (802.11G) Modem • Antenna is integrated into tail mast • Modem is integrated into Main CPU • Must Remote Desktop to Main CPU to access IVER2 • Then Remote Desktop to User CPU to access app • Remote Transmitter for power controller • Hard reset and power supply shutoff only • Has caused Windows to corrupt more than once • WHOI Acoustic Modem • IVER2’s come modem built in but hasn’t be used • Ground/Surface station modem just received

  10. Underwater Communication Source: WHOI Website

  11. IVER2 Comm. Thoughts • Communication Protocols must include • Mix of Wi-Fi and Acoustic Modems • Routing of data/packets must be dynamic • Should assume non-continuous connection with base station (therefore ad-hoc system required) • Due to dual systems within the IVER2, extra routing is required • Wi-Fi is on main processor • Acoustic modem is on secondary

  12. Project Driven Development Push Concept with Task

  13. Project Driven Development • User a project requiring communication to… • Define specifications • Encourage development • Discover limitations of protocols • Find bugs • Research the benefit of strategic communication on Multi-Robot Systems • What benefits are achieved • Just data logging? • Quicker performance • More complete functionality

  14. Phased & Load-Balanced Data Acquisition • Phased, load-balanced cooperative MRS (Multi-Robot Systems) can achieve tasks… • Quicker • More people doing the work (without large overlaps) • More accurately • Composited sensor readings (can) reduce error • Overlapping work & communication can help in localization • More complete results • Can detect changes quicker in a dynamic environment • Quicker detection means less is missed in a highly dynamic world

  15. Phased & Load-Balanced Data Acq. (Cont.) • Gather Oxygen/Bio data in a body of water • Robots will take readings over a 3D region by oscillating around dimension. Top View

  16. Perfect Environment • Uniform depth and width • Automatically Balanced • Synchronization Easily Maintained • Width < Max Communication Range • Robots will always be in communication Front/Back Slice

  17. Actual Environment • Curved, Uneven Ground and Bay Shape • Must Dynamically Balance • Synchronization Quickly Lost • Width is Dynamic • Robots will not always be in communication Top View

  18. Project Comm. Demands & Goals • Communicate with other robots in order to maximize productivity and minimize delay between data points. • Tolerate communication losses due to submersion, range, or a combination of the two. • Operate in an unknown environment • Mapping on the fly • Absolute Positioning Trust Between Robots • Other Desires • Allow the addition (and removal) of robots on the fly. • Synchronized movements

  19. Environment Simulation Not Just Convenient, Required!

  20. Why Simulate? • Robots are expensive! • Being able to simulate large scale activities without a large budget allows new projects to be prototyped • Humans make mistakes • Bad code in an underwater, flying, or even ground robots can result in a lost robot ($$) • Researchers can test algorithms/concepts • Although only simulated data is being shared with the robot, we can make it complete enough to test concepts without having to be in the field • Tests are reproducible!

  21. The roboSim Environment • A virtual environment that simulates the real world for code development and research. • Real & Virtual Agents can interact/communicate • An agent is composed of modules (C++ classes) • New agents can be added • New sensors created • “Error” can be added • Agent code is independentof the environment Source: Sean Forsberg

  22. RoboSim Design Overview RoboSim World Devices Agents GIS Terrain Input Sensors Physical Locomotion Simulated Local Area Lat/Long Comm. Beacons Radios Devices: Feedback based on world & agent instructions Agents: Objects that interact with the world and are a collection of devices Each device and agent constructed as a module building on previous to allow quick creation/modification.

  23. Object-Oriented Design UnderwaterAgent TorpedoAgent IVER2Agent modAgent SurfaceAgent DiffDriveAgent X80Agent CommAgent RadialCommAgent WiFiAccessPoint modDevice LocationDevice GPSDevice LocomotionDevice PropellerDevice TriBeaconDevice FinDevice EnvSensorDevice DistanceSensor SonarSensor CommDevice WiFiModem

  24. IVER2 System Design • IVER2 has a dual, independent CPU design with COM based interface • Both CPUs are currently running Windows XP • User CPU reqs.and recvs datausing telnet tothe main Source: OceanServer Manual

  25. IVER2-roboSim Interface (Cont.) Current IVER2 Configuration OceanServer App Sense/Control User App User CPU COMPort Main CPU roboSim-IVER2 Interface Configuration User App EthBridge roboSim Environment Sim User CPU COMPort Graphical Render

  26. roboSim Challenges • Real Terrain Modeling • Import GIS (and other data source) topographic maps (various resolution) • Real-time Graphics • Requirement to minimize the polygon/vertex count (aka low-res terrain) • Distance Sensors • Require high resolution detail in order to accurately simulate the environment (aka high-res terrain)

  27. Presentation Review What Just Happened?!

  28. Overview • LAIR = multi-robot development • Underwater systems = comm. challenges • Lack of RF based transmission • Bandwidth limitations of Acoustic modems • Dynamic environments • Multi-robot systems require communications • Effective comm. can result in quicker (and more effective) systems • Experiments on expensive platforms are risky & expensive • The IVER2 provides an excellent interface for simulation.

  29. Questions! Harassment is Encouraged

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