Sensor Bricks for Modular Robotics FALL 2005 Tuesday
Sensor Bricks for Modular Robotics. FALL 2005 Tuesday Meeting Presented by Nikhil Arun Naik October 25, 2005 Slide
Modular sensor brick systems 1. Visual imaging sensor brick system. (Sensor) 2. Thermal or Infrared imaging sensor brick system. (Sensor) 3. Laser or Range imaging sensor brick system. (Sensor) 4. Nuclear and Neutron detector sensor brick system. (Sensor) 5. Safebot under vehicle robotic platform. (Mobility) 11/5/2020 Slide 2
Modular sensor brick systems 11/5/2020 Slide 3
Motivation Orca 4 D/RCS NML XML JAUS DHCP System Configuration UPn. P XML SOAP 11/5/2020 Slide 4
Communications: ORCA, DHCP, UPn. P Objective: § To develop a communications architecture for our modular robotics systems. Motivation: § To be able to control all the bricks (sensing and mobility) from a control GUI. § To move all the bricks from operating on different wireless networks. § To let the user know which bricks are currently available and what features they have to offer. Solution: § Implement a DHCP server to setup a network on which all the bricks operate and make it UPn. P compatible. 11/5/2020 Slide 5
Communications: ORCA, DHCP, UPn. P Previously 11/5/2020 Slide 6 Currently
Communications: ORCA, DHCP, UPn. P 11/5/2020 Slide 7
Communications: ORCA, DHCP, UPn. P 11/5/2020 Slide 8
Communications: ORCA, DHCP, UPn. P Accomplishments till date: ü Implemented a DHCP server. ü Read literature on UPn. P & DHCP. ü Obtained Chung-Hao’s networking library v 1. 0 and developed the Control GUI based on his version. ü Fixed the problem with thermal and visual video quality. ü Decided to use a JAUS compliant message format for the Control GUI. Goals ü ü ü for the remaining semester: Incorporate UPn. P with the Control GUI. 5 window based control system. Get the Control GUI to communicate with all the mobility bricks. ü Look at adding some more application specific capabilities to the Control GUI. 11/5/2020 Slide 9
Software: GUI Objective: § To develop basic GUI’s for thermal and visual sensor brick systems. Motivation: § New sensor brick systems had no software on them to demo the sensors. § Previous versions of GUI that existed could not be used on the new sensor brick systems since they were system specific. § Save the cost incurred in procuring an SDK every time a new capture card is acquired by the lab. Solution: § Develop new basic GUI’s using Microsoft Direct. X Direct. Show SDK, which is free, universal and operates at the level that makes the software independent of the hardware. 11/5/2020 Slide 10
Software: GUI Screen shot of Thermal Sensor Brick GUI 11/5/2020 Slide 11
Software: GUI Screen shot of Visual Sensor Brick GUI 11/5/2020 Slide 12
Software: GUI Accomplishments: ü Developed Microsoft Direct. X Direct. Show based basic GUI’s for thermal and visual sensor bricks. ü Obtained Chung-Hao’s networking library v 1. 0 and incorporated it with these basic GUI’s. ü Started adding processing functions to the GUI’s. ü The GUI now allows us to capture a single frame of Full, ½ and ¼ frame sizes. Goals for the remaining semester: ü Incorporate some of the image processing functions already available with Intel Open CV library. ü Look at developing a basic IRIS lab version of the GUI for the nuclear and neutron detector sensor brick. 11/5/2020 Slide 13
Hardware: Robot Docking Station Objectives: § To build a network booster and a power booster. § To implement a robot docking station. Motivation: § To move all the bricks from operating on different wireless networks. § To be able to charge all the batteries on the robot from a single A/C plug without having to take them out. Solution: § Build a network booster and a power booster which will provide power to both the tracks on the Safe. Bot. § Move towards a robot docking station. 11/5/2020 Slide 14
Hardware: Robot Docking Station Safe. Bot-Autonomous Safe. Bot-Big 11/5/2020 Slide 15
External 110 VAC Hardware: Robot Docking Station Extension Strip 11/5/2020 Slide 16
Hardware: Robot Docking Station Front Side View Rear Side View Internal Layout 11/5/2020 Slide 17
Hardware: Robot Docking Station Accomplishments till date: ü Built a network booster. ü Designed and started building a power booster (16”x 10”x 5”). ü Set a scheduled plan to implement the robot docking station. Goals for the remaining semester: ü Build the power booster. ü Make overall progress on the robot docking station. A/C source 11/5/2020 Slide 18
Thesis Writing Objectives: § To conduct a literature review of hardware, software and communications architecture currently existing on commercially available robots and robots developed by research laboratories. § Complete Chapters 1, 2 & 3 of thesis. Motivation: § To generate a thesis for my master’s degree based on Hardware and Software Architecture for Acquisition, Processing and Interpretation of Data from a Multi-sensor Modular Robotic Platform. 11/5/2020 Slide 19
Thesis Writing 11/5/2020 Slide 20
Thesis Writing Research Labs 1. 2. 3. 4. 5. 6. 7. 8. 9. 11/5/2020 Slide 21 PARC (Palo Alto Research Center) MSU - DARPA Micro. Robot Self-reconfiguring Robots at The Dartmouth Robotics Lab University of Minnesota Center for Distributed Robotics DARPA Distributed Robotics Polypod -Stanford University Modular Robot Research Caltech Modular Robotics – U Penn Carnegie Melon University Industry 1. Remotec – Andros 2. Packbot Robot 3. Talon – Foster-Miller 4. Patrol. Bot - Security and Surveillance Robots – Mobile Robots 5. TARDEC
Demo Generic Sensor Brick 11/5/2020 Slide 22 Thermal Sensor Brick Visual Sensor Brick Range Sensor Brick Nuclear & Neutron Detector Sensor Brick
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