Autonomous Underwater Vehicle AUV Workbench Daryl Lee Chin
Autonomous Underwater Vehicle (AUV) Workbench Daryl Lee, Chin Siong Civilian, Singapore
AUV Schematics 9/18/2021 Aries AUV for Mine Reconnaissance/ Multi-Vehicle Communications
AUV Workbench Ø Robot Mission Planning n n n Pre-mission On-going mission monitoring Post-mission playback Ø 3 D Visualization Ø Collaborative sensing capability through agents Ø Collaboration tool 9/18/2021
Building Blocks AUVWorkbench Xj 3 D viewer Browser plugin DIS-Java-VRML 2 D Mission Planning Execution level AUV control (robot) Mission Scripts (xml-based) Mission Scripts (textual) Hydro-dynamics (virtual environment) Coefficients (in. java format) Coefficients (xml-based) Connector-based Multi. Agent System library Cognitive Blending 9/18/2021 Agent Comms using XMPP AUV Workbench AUVWorkbench
Building Blocks User Interface Mission Planner 3 D Visualization Event Monitoring Agent Application Toolbar Application Interfaces XFSP DIS Multicast Execution Modules APIs / Libraries Compression/Encoding Jabber Web XMPP HTTP/HTTPS Dynamics THE MOVES INSTITUTE Message Packaging & Communications Protocol
Mission Script X 3 D Visualization Application Toolbar Execution 9/18/2021 Hydrodynamics
Exploded View Mission Planner X 3 D Visualization Execution Hydrodynamics XML-based AUV Mission Scripts 9/18/2021 Jabber Chat Client
XML-based Mission Script Graphical Representation 9/18/2021
XML-based Mission Script <? xml version="1. 0" encoding="UTF-8"? > <AUVMissions xmlns: xsi="http: //www. w 3. org/2001/XMLSchema-instance" xsi: no. Namespace. Schema. Location="C: /AUVWorkbench/bin/scripts/mission. Scripts/AUVMiss ion. xsd"> <Mission> <Profile/> <Commands> <Position course="0" depth="5" port. Prop. Speed="27" standoff="2" starboard. Prop. Speed="26" thruster="on“ timeout="50" x="12" y="55"/> <Waypoint course="180" depth="15" port. Prop. Speed="27" standoff="" starboard. Prop. Speed="26" thruster="on“ timeout="5" x="95" y="55"/> <Waypoint course="180" depth="15" port. Prop. Speed="27" standoff="" starboard. Prop. Speed="26" thruster="on“ timeout="5" x="122" y="72"/> <Waypoint course="270" depth="5" port. Prop. Speed="27" standoff="" starboard. Prop. Speed="26" thruster="on“timeout="5" x="70" y="70"/> <Hover course="270" depth="5" port. Prop. Speed="27" standoff="" starboard. Prop. Speed="26" thruster="on" timeout="5" x="12" y="70"/> <Speed speed="0"/> <Thruster enabled="true"/> </Commands> </Mission> </AUVMissions> 9/18/2021
XML-based Configuration <AUVWork. Bench> <General> <Models></Models> <Scripts></Scripts> <Internet. Browser>C: /Program Files/Internet Explorer/IEXPLORE. EXE</ Internet. Browser> <Internet. Browser>D: /Program Files/Internet Explorer/IEXPLORE. EXE</ Internet. Browser> <App name="Jabber" tooltip="Instant Messaging Client" image="image/jabber. gif"> <Command>C: /Program Files/Rhym. Box. exe</Command> <Command>D: /Program Files/Rhym. Box. exe</Command> <Command>C: /Program Files/IM/Rhym. Box. exe</Command> </App> <App name="Browse" tooltip="Web Browser" image="image/browser. gif"> <Command>C: /Program Files/Internet Explorer/IEXPLORE. EXE</Command> <Command>D: /Program Files/Internet Explorer/IEXPLORE. EXE</Command> </App> <App name="X 3 D-Edit" tooltip="X 3 D Editor" image="image/x 3 d. gif"> <Command>C: /www. web 3 d. org/Task. Groups/x 3 d/translation/X 3 D-Edit. bat</Command> <Command>D: /www. web 3 d. org/Task. Groups/x 3 d/translation/X 3 D-Edit. bat</Command> <Command>C: /www. web 3 d. org/Task. Groups/x 3 d/translation/X 3 D-Edit-English. bat</ Command> </App> <App name="JEdit" tooltip="JEdit" image="image/jedit. gif"> <Command>C: /Program Files/j. Edit 4. 1/jedit. exe</Command> <Command>D: /Program Files/j. Edit 4. 1/jedit. exe</Command> </App> <App name="ADS" tooltip="AUV Data Server" image="image/3 cubes. gif"> <Command>C: /auv/ADS/Auv. Data. Server. bat</Command> <Command>D: /auv/ADS/Auv. Data. Server. bat</Command> </App> </General> <Execution> </Execution> <Hydrodynamics> <AUV number="1" multicast. Group="224. 2. 181. 145" multicast. Port="62040" ttl="15" application. ID="0" site. ID="0" entity. ID="1" description="AUV in Beach Tank 1"/> <AUV number="2" multicast. Group="224. 2. 181. 145" multicast. Port="62040" ttl="15" application. ID="0" site. ID="0" entity. ID="2" description="AUV in Beach Tank 2"/> <AUV number="3" multicast. Group="224. 2. 181. 145" multicast. Port="62040" ttl="15" application. ID="1" site. ID="1" entity. ID="36" description="AUV in Beach Tank 3"/> </Hydrodynamics> </AUVWork. Bench> 9/18/2021
2 D Mission Viewer – class diagram Completed Mission. Viewer Work-in-progress Canvas to render Mission/s Mission. Draw. Area Dialog to edit waypoint data Mission Mine. Point Mission. Hover 9/18/2021 Mission. Thruster Mission. Point Mission. Wait Mission. Point. View Mission. Dialog Mission. Position Mission. Speed
Anatomy of Aries. Espdu. Example. wrl Location: C: www. web 3 d. orgTask. Groupsx 3 dtranslationexamplesDistributed. Interactive. SimulationAries. Espdu. Example. wrl Aries. Expdu. wrl Espdu. Prototype. wrl Espdu. Transform. Prototypes. wrl# Espdu. Transform. Trace 9/18/2021 Espdu. Transform. Prototypes. wrl# Espdu. Transform Aries. Prototype. wrl Beam. Cone. wrl
Anatomy of Auv. In. Beach. Tanks. wrl Location: C: www. web 3 d. orgTask. Groupsx 3 dtranslationexamplesDistributed. Interactive. SimulationAuv. In. Beach. Tanks. wrl ? . wrl Espdu. Prototype. wrl Espdu. Transform. Prototypes. wrl# Espdu. Transform. Trace 9/18/2021 Espdu. Transform. Prototypes. wrl# Espdu. Transform Aries. Prototype. wrl Beam. Cone. wrl
Future Work Performance enhancement through web services Performance issue with Java Virtual Machine Centralized control of Need to know where the virtual environment server is located Robot agent Virtual Environment agent Manager agent AUV Workbench 1 Multiple AUVs running in same AUV Workbench Multiple AUVs running in different AUV Workbenches AUV Workbench 1 Read settings from configuration file. Connect to Jabber server using pre-defined settings. Request for DIS information (application, site and entity IDs) from Manager agent via Jabber peer-to-peer messaging. Responsible for the assignment of DIS application, site and entity IDs to each AUV THE MOVES INSTITUTE
Event Monitoring Standard Jabber Client Data Jabber Protocol Jabber server Jabber protocol Data only, no files can be sent Keyword parser to detect relevant messages AUV Workbench Jabber Client Key-in event in Message Subject and Body Audible/visual event alert Operator Commander THE MOVES INSTITUTE
Event Monitoring Standard Jabber Client Listen to incoming chat messages Extract positional data and plot Agent at local machine Operator at remote machine THE MOVES INSTITUTE
Event Monitoring Standard Jabber Client Listen to incoming chat messages “visual” alert 2 D Mission Planner If matches, extract data and raise alert “sound” alert Play sound Operator at remote machine List of Watch Events List of Alerts THE MOVES INSTITUTE “url” alert Display in associated application
Defining Watch Events <XTCMonitor> Regular expression <Monitor. Default> <Watch. Event name="Mine" desc="Look out for Mines" expr="^. *(? i)MINE[s|S]? . *[ (]{1, 2}(d*), [ ]{0, 2}(d*)? +"> <Alert type="visual" src="image/mine. gif" enabled="true"/> <Alert type="sound" src="sound/alert. wav" enabled="true"/> <Alert type="url" src="C: /auv/index. htm" enabled="false"/> </Watch. Event> Alerts Watch Event <Watch. Event name="Ship" desc="Look out for Ships" expr="^. *(? i)SHIP[s|S]? . *[ (]{1, 2}(d*), [ ]{0, 2}(d*)"> <Alert type="visual" src="image/ship. gif" enabled="true"/> </Watch. Event> </Monitor. Default> </XTCMonitor> 9/18/2021
Event Monitoring Web-based using HTML forms Data and Files via HTTP-Jabber Protocol Storage for uploaded files storage HTTP POST of both data and files using HTTP protocol Servlet on web server Jabber protocol Jabber server Package HTML data and files into XHTML format and send out HTML form in Internet browser AUV Workbench Key-in event in pre-formatted HTML page Operator Unpack incoming XHTML Jabber message and display data and files Audible/visual event alert THE MOVES INSTITUTE Commander
Event Monitoring Customized Jabber Client Data and Files via both HTTP-Jabber and Jabber Protocol Storage for uploaded files storage HTTP POST of both data and files using HTTP protocol Customized Jabber Client Servlet on web server Jabber protocol Jabber server Package HTML data and files into XHTML format and send out Package data and files into XHTML format and send out AUV Workbench Audible/visual event alert Key-in event Operator Unpack incoming XHTML Jabber message and display data and files THE MOVES INSTITUTE Commander
Event Monitoring Overview storage logging Storage for uploaded binary data HTML form in Internet browser Message subject and body are keyed-into a pre-formatted HTML page HTTP protocol Servlet on web server Package data and perform a HTTP POST or retrieve binary data via HTTP GET Customized Jabber client 9/18/2021 Able to display both standard Jabber message and also process/display binary data, if any Jabber protocol (peer-to-peer or chat -room type) Jabber server Jabber protocol Jabber client Able to display standard Jabber message information (e. g. subject and body)
Overview Human and Agent Interaction Human Peer-to-peer IM interaction between people Chat-room Human “Publish-Subscribe” mechanism to enable multiple agents to listen and react to messages posted. Chat-room resides on Jabber server Agent monitoring chat-room for specific messages Agent 1 Peer-to-peer IM interaction between agents Unique Jabber ID to identify each agent e. g. agent 1@surfaris. cs. nps. navy. mil 9/18/2021 flat file Agent 2 database Archival of messages
Not just text messages Jabber message packet Header Subject and Body Payload Sample payloads Text XML Images Plug-ins Applications 9/18/2021
Sample XHTML message Compressed and base-64 encoded <message id="5 euk 4 -4" to=“ savage@conference. xchat. movesinstitute. org" Normal data type=“groupchat" from="auvrobot@surfaris. cs. nps. navy. mil"> <subject>Subject</subject><body>This is a test message with (XHTML)</body> <html xmlns="http: //jabber. org/protocol/ xhtml-im"> <body> <Agent. Jabber> XHTML data <!–- Payload --> <Agent. Payload checksum="1234567" content-transfer-encoding="base-64" Header information content-type="application/x-zip-compressed " desc="Description here" filename="GAMMA. bmp“ timestamp=“ 20040115235959”> <![CDATA[H 4 s. IAAAAAO 3 Qs. U 0 DQRh. E 4 Tsw 4 FKog. Bxyen. IRboa. ABmjqu. DNISKs. XTPZWa. Ob. Tyb. DR 0//2/v. W 5 3 PZy. Wpbn/fe 6 f 6/rsqz. L+f. Z+/Vj+tv 5++y 77 tw 1/XC 4//2 zbtn. Rd 9 z+3 neej. Bw. A 9 AOg. BQA 8 Aeg. DQA 4 Ae. APQAo Ac. APQDo. AUAPAHo. A 0 AOAHg. D 0 AKAHg. PHhc. YKNj. Xb. Psd 4 p. W++Ur. Xf. K 1 jtl 652 y 9 U 7 Zeqdsv. VO 23 ilb 75 Std 8 r. WO 2 Xrnb. L 1 Ttn. GO 81 ADw. B 6 ANADg. B 4 A 9 ACg. Bw. A 9 AOg. BQA 8 Aeg. DQA 4 Ae. APQAo. Ac. APQDo. AUAPAHo. A 0 AOAHg. D 0 AKAHAD 0 A 6 AFADw. B 6 ALjb 5 q. MHAds 451 mo. Ac. APQDo. AUAPAHo. A 0 AOAHg. D 0 AKAHAD 0 A 6 AFADw. B 6 ANADg. B 4 A 9 ACg. Bw. A 9 AOg. BQ A 8 Aeg. DQA 4 Ae. APQAo. Ac. APQCctvno. AUAPAHo. A 0 AOAHg. D 0 AKAHAD 0 A 6 AFADw. B 6 ANADg. B 4 A 9 ACg. Bw. A 9 AOg. BQA 8 Aeg DQA 4 Ae. APQAo. Ac. APQDo. AUAPAHo. A 0 APA+HA/wc. ZGu+d. Y 75 Std 8 r. WO 2 Xrnb. L 1 Ttl 6 p 2 y 9 U 7 be. KVvvl. K 13 yt. Y 7 Zeu dsv. VO 2 Xqnb. OOd. Zq. AHAD 0 A 6 AFADw. B 6 ANADg. B 4 A 9 ACg. Bw. A 9 AOg. BQA 8 Aeg. DQA 4 Ae. APQAo. Ac. APQDo. AUAPAHo. A 0 AOAHg. D 0 AKAHg. PHh. YYKNj. Xb. Psd 4 p. W++Ur. Xf. K 1 jtl 652 y 9 U 7 Zeqdsv. VO 23 ilb 75 St 02 mddv. Kv. QAA]]> <url>http: //server 1/GAMMA. bmp</ url> <url>http: //server 2/GAMMA. bmp</ url> Hyperlinks to storage locations <url>http: //server 3/GAMMA. bmp</ url> </Agent. Payload> </Agent. Jabber> </body></html> 9/18/2021 </message> Compressed and base-64 encoded data (textual & binary)
Sample XHTML message In clear <message id="5 euk 4 -4" to=“ savage@conference. xchat. movesinstitute. org" Normal data type=“groupchat" from="auvrobot@surfaris. cs. nps. navy. mil"> <subject>Subject</subject><body>This is a test message with (XHTML)</body> <html xmlns="http: //jabber. org/protocol/ xhtml-im"> <body> <Agent. Jabber> XHTML data <!–- Payload --> <Agent. Payload checksum="1234567" content-transfer-encoding="base-64" Header information content-type=“text/xml " desc="Description here" filename=“ Daml. xml“ timestamp=“ 20040115235959”> <![CDATA[<daml: Ontology rdf: about=""><daml: version. Info>$Id: daml+people-ex. daml, v 1. 4 2003/12/12 18: 34: 13 dom Exp $</daml: version. Info><rdfs: comment>An example ontology, XML data in clear with data types taken from XML Schema</ rdfs: comment><daml: imports rdf: resource="http: //www. w 3. org/2001/10/daml+people" /></ daml: Ontology>]]> <url>http: //server 1/Daml 1. xml</ url> <url>http: //server 2/Daml 2. xml</ url> Hyperlinks to storage locations <url>http: //server 3/Daml 3. xml</ url> </Agent. Payload> </Agent. Jabber> </body></html> </message> 9/18/2021
Anatomy of a Jabberenabled agent Agent interior Jabber Server 1…N Agent can be connected simultaneously to multiple Jabber servers Agent Jabber communications Message formatting Jabber message packet Header Body Payload Handle Jabber instant messaging Packaging of message format Compression and decompression To reduce the size of the message packet Base-64 encode and decode To handle non-textual data e. g. images, audio and video Message processing Configuration THE MOVES INSTITUTE Trigger alerts, other events or archive to database/flat file Read in settings e. g. watch events and alerts
Message Package Incoming Start 1 2 Receive JABBER message either through chatroom or another JID user Is CDATA section found? No Extract list of hyperlinks from <url> elements Save as binary data in predefined temporary location Loop through list and try to download contents Invoke respective application to process binary data Yes Extract XHTML data from Jabber message body No Is CDATA content in zipped format? Yes 1 Perform GZIP decompression Perform base-64 decoding 2 THE MOVES INSTITUTE Create a list of Agent. Payload objects End
Message Package Outgoing Start 1 2 Load physical files to be packaged Set “content-type” attribute to “application/x-zipcompressed” Set “content-type” attribute to based on file format Is file size within specified limit? No 3 4 Save as XML file in predefined temporary location for storage purposes Perform base 64 encoding Generate XML document and formup XML string Add hyperlinks Insert XML string as XHTML data in Jabber message body Yes Is data compressable? No Yes Perform GZIP compression using Java ZIP package 1 2 3 Generate XML document and insert base 64 encoded data in CDATA section (if any) Send out JABBER message to addressee 4 End THE MOVES INSTITUTE
main AMVW AUVWorkbench. Config. App Dynamics. Execution. Thread Vrml. Loader X 3 DLoader util Agent. Payload Example. Filter Image. Display Numeric. Input. Handler Splash. Screen System. Util. X Handle. Request web Handle. Request HTTPGet HTTPPost HTTPServer Post. Form Request. HTTP THE MOVES INSTITUTE mission Mine. Point Mission. Bound. Box. View Mission. Command Mission. Dialog Mission. Draw. Area Mission. Hover Mission. Input. One. View Mission. List. Cell. Renderer Mission. List. View Mission. Point. View Mission. Position Mission. Speed Mission. Thruster Mission. Viewer. Config Mission. Wait Mission. Waypoint
util main web System. Util AUV Post. Form im Agent. Payload Config. App Request. HTTP Watch. Event System. Util. X AUVWorkbench. Config Handle. Request Alert. Visual Image. Display AMVW Monitor HTTPServer Agent. Config Alert. Sound IMConfig Example. Filter Numeric. Input. Handler Splash. Screen Vrml. Loader Alert. URL Alert Dynamics. Execution. Thread X 3 DLoader THE MOVES INSTITUTE UIAgent
Mission. Viewer. Config Mission. Bound. Box. View Not implemented mission Mission. Viewer Mission. Command Mission. Depth Mission. Realtime Mission. Trace Mission. Enter. Tube Mission. Reset. Time Mission. Help Mission. Follow. Light Mission. Rotate Mission. Pause Mission. Heading Mission. Rudder Mission. Quit Mission. Lateral Mission. Sonar Mission. Speed Mission. Script Mission. Standoff Mission. Thruster Mission. Planes Mission. Take. Station Mission. Wait Mission. Propeller Mission. Time. Step Mission. Point Mission. Draw. Area Mission. List. View Mission. List. Cell. Renderer Mission. Input. One. View Mission. Dialog Mission. Point. View Mission. Hover Mission. Position Mission. Waypoint Target. Mine THE MOVES INSTITUTE
AUVW main mission im web util AUV Mission. Point Agent. Config Post. Form System. Util Config. App Mission. Draw. Area Mission. Waypoint IMConfig Request. HTTP Agent. Payload AUVWorkbench. Config Mission. Viewer Mission. Position Monitor Handle. Request System. Util. X AMVW Mission. Point. View Mission. Hover UIAgent HTTPServer Image. Display Vrml. Loader Mission. Dialog Mission. Wait Alert Example. Filter Dynamics. Execution. Thread Mission. Thruster Mission. Speed Watch. Event Numeric. Input. Handler X 3 DLoader Splash. Screen THE MOVES INSTITUTE
Web Server /dataweb /dataim in out AUVW /main /mission /im /web THE MOVES INSTITUTE /util
AUV Workbench /bin /main /execution /lib /Models /dynamics /Script /dataweb /src /dataim /main /mission in in /mission /im out /im /web /util THE MOVES INSTITUTE
Future Work User Interface Dynamics Jabber/XMPP or Web Service Plug-in Manager Application Toolbar Mission Manager Mission Planner Application Interfaces Execution Jabber/XMPP or Web Service 3 D Visualization Multi-agent System Framework DIS Execution Dynamics Obstacle Agent XFSP/Compression and Encoding Forward Error Correction Multicast Event Monitoring Agent Jabber Web XMPP HTTP/HTTPS Environment Agent Weather web service Future Work THE MOVES INSTITUTE
Anatomy of a Jabberenabled agent Agent interior Jabber Server 1…N Agent can be connected simultaneously to multiple Jabber servers Agent Jabber communications Message formatting Jabber message packet Header Body Payload Handle Jabber instant messaging Packaging of message format Compression and decompression To reduce the size of the message packet Base-64 encode and decode To handle non-textual data e. g. images, audio and video Message processing Configuration THE MOVES INSTITUTE Trigger alerts, other events or archive to database/flat file Read in settings e. g. watch events and alerts
Icons
Icons 1 THE MOVES INSTITUTE
Icons 2 SOS THE MOVES INSTITUTE
THE MOVES INSTITUTE GPS k ñ Icons 3
Template THE MOVES INSTITUTE
Component Chart
Application Main Created by ui. Mission() spn. Mission. X 3 D Created by ui. Graphics() by ui. Exe. Dynamics() THE Created MOVES INSTITUTE Created by create. Toolbar. App() spn. Main
Mission Commands Text and List. View Created by add. Tool. Bar. Mission() btn. Mission. New btn. Mission. Open btn. Mission. Save tab. Pnl pnl. Mission _mmo. Mission pnl. Mission. Text lbl. Mission scp. Mission _mission. Command THE MOVES INSTITUTE scr. Command
Font Dialog _l. Font. Styles _font. Style _font. Size _font. Name _l. Font. Sizes _font. Color _l. Font. Names _sample. Field THE MOVES INSTITUTE
2 D Mission Viewer & Graphics 3 D tab. Pnl _mission. View Created by create. Draw. Area. Popup. Menu() pnl. Bottom THE MOVES INSTITUTE btn pnl. XJ 3 DViewer lbl. X 3 DFile
Execution and Dynamics btn. Process. Stop btn. Process. Start btn. Process. Clear _btn. Real. Time. Toggle pnl. Execution pnl. Radio. Run rad. Run. In. Exe. C _btn. Process. Save mmo. Execution rad. Run. In. Exe. Java scp. Execution spn. Exe. Dyna pnl. Dynamics rad. Run. In. Exe. No. Thruster. Java tab. Pnl pnl. Execution. Dynamics mmo. Dynamics pnl. Options scp. Dynamics btg. Run pnl. Radio. Model rad. Model. Phoenix rad. Model. Sdv 9 rad. Model. Los. Angeles rad. Model. Aries THE MOVES INSTITUTE rad. Model. Remus btg. Model
Application Toolbar btn Hardcoded Created by create. Toolbar. App() Dynamically created from <App> stanza stored in AUVWorkbench. Configuration. xml THE MOVES INSTITUTE
Web Server _txt. Web. Root _txt. Web. Port _txt. Web. Upload Created by ui. Web() _btn. Web _chk. Web. Autostart THE MOVES INSTITUTE
Jabber Customized Client Logon Screen _txt. IMName _txt. IMDomain _txt. IMNickname Created by ui. IMConnect() _txt. IMResource pnl. Btns _txt. IMPort btn. IMConnect _txt. IMPassword _txt. IMJID _txt. Msg. Ignore _txt. IMDir. In THE MOVES INSTITUTE _txt. IMDir. Out
Jabber Customized Client Message Receive Screen Created by ui. IMRecv() _tbl. Message THE MOVES INSTITUTE
Jabber Customized Client Message Send Screen _txt. IMSubject _txt. IMBody scr. Body Created by ui. IMSend () pnl. Btns btn. IMSend btn. IMAttach _txt. IMTo _txt. IMFiles _txt. IMURL THE MOVES INSTITUTE
Hot. Key Manager Application-wide hot-keys <AUVWork. Bench> Set to false to deactivate Hot. Key Manager Key Stroke (e. g. hotkey is “CTRL+1”) <General> … Type of Hotkey <Hot. Key. Manager enabled="true"> This shall be used to distinguish <Hot. Key key="control 1" the Hotkeys’ actions type="XTCMonitor" Turn on/off enabled="true" prompt="true" Display a dialog prompt? Message to be desc="Incoming Jabber Instant Message" displayed in dialog box > Message to be sent to Mine at (100, 5) Event Monitor </Hot. Key> <Hot. Key key="control 2" type="XTCMonitor" enabled="true"> Mine at (120, 150, 5)</Hot. Key> <Hot. Key key="control 3" type="XTCMonitor" enabled="false"> Ship located at (20, 150, 5). </Hot. Key> </Hot. Key. Manager> … </General> </AUVWork. Bench> THE MOVES INSTITUTE
Hot. Key Manager How to create hotkeys for type “Toolbar” <AUVWork. Bench> <General> … Correspond to hardcoded <Application name=" Browse" … ></Application> buttons in toolbar … <Hot. Key. Manager enabled="true"> <Hot. Key key="F 1" type="Toolbar" enabled="true" prompt="false" desc="About">About</Hot. Key> <Hot. Key key="F 2" type="Toolbar" enabled="true" prompt="true" desc="Performing screen-capture"> Snap</Hot. Key> <Hot. Key key="F 3" type="Toolbar" enabled="true" prompt="true" desc="Fire-up Internet Browser"> Browse</Hot. Key> </Hot. Key. Manager> … </General> </AUVWork. Bench> Correspond to application name defined in Application stanza THE MOVES INSTITUTE
Hot. Key Manager How to name a Key. Stroke The "key" string must have the following syntax: <modifiers>* (<typed. ID> | <pressed. Released. ID>) modifiers : = shift | typed. ID : = typed. Key : = pressed. Released. ID : = key : = control | ctrl | meta | alt | button 1 | button 2 | button 3 typed <typed. Key> string of length 1 giving Unicode character. (pressed | released) key Key. Event key code name, i. e. the name following "VK_". Here are some examples: 1. "INSERT" => "INSERT" 2. "control DELETE" => "CTRL+DELETE" 3. "alt shift X" => "ALT+SHIFT+X" 4. "ctrl ENTER" => "CRTL+ENTER" 5. "typed a" => "a" Case-sensitive THE MOVES INSTITUTE
Agent
How Connector-Ticket pair work Step 1: Packaging and Tagging External environment Raw inputs to sensors Agent Interior Packaging Tagged data Obstacles encountered e. g. 00100111010 or <xml>message</xml> List of Templates, XML schemas or database 9/18/2021 Tagging
Basic Goals 9/18/2021 Perform Tracking Surface and Transmit findings New goals may be introduced and existing goals may be replaced Identification Detection Movement along a path Connectors – may be retracted when there is a matching ticket or list of matching tickets Movement within predefined region Arrived at Waypoint Obstacles encountered How Connector-Ticket pair work Step 2: Matching Complex Goals
RBM Level Emphasis Manned Submarine Strategic Mission Logic Commanding Officer Tactical Vehicle Behaviors Officer of the Deck/Watch Officers Execution Hardware Control Watchstanders THE MOVES INSTITUTE
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