Introduction MSRS Overview A few details Competitors Summary 8803 - MS Robotics Studio Henrik I Christensen & Mike Stilman Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760 January 21, 2008 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 1 / 27 Introduction MSRS Overview A few details Competitors Summary Outline 1 Introduction MSRS Overview 2 A few details 3 Competitors 4 Summary 5 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 2 / 27 Introduction MSRS Overview A few details Competitors Summary Background Construction of systems requires “glue” for integration That includes Communication framework 1 Components in “standard libraries” 2 A control/synchronization model 3 Tools to support development 4 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 3 / 27 Introduction MSRS Overview A few details Competitors Summary Communication Language neutrality Handling of structured data Efficient (latency / bandwidth) Multiple control models Push, Pull, Synchronize, Subscription Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 4 / 27
Introduction MSRS Overview A few details Competitors Summary Std. Component Libraries Interfaces to standard actuators / sensors Odometry, Camera, IR sensors, Sonar, LIDARs, . . . Reference implementations Mapping, Feature Extraction, Planning, Navigation, . . . Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 5 / 27 Introduction MSRS Overview A few details Competitors Summary Tools for Development Integration with UML for other design methodology Code templates / reference models Integration with debuggers for efficient development Facilities to accommodate logging Methods for simulation Methods for visualization of state Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 6 / 27 Introduction MSRS Overview A few details Competitors Summary Outline Introduction 1 MSRS Overview 2 A few details 3 Competitors 4 Summary 5 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 7 / 27 Introduction MSRS Overview A few details Competitors Summary A note on robot economy Turn over in B$ 10 Large enterprizes 10B$ Universities and R&D institutions 5 3.5B$ SMEs 2.8B$ 1.5 B$ Component Robot System Technologies manufacturers Integrators Source; EUROP / EuroStat / World Robotics Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 8 / 27
Introduction MSRS Overview A few details Competitors Summary Microsoft Robotic Studio An attempt for Microsoft to enter the systems integrator market A framework for process communication and synchronization CCR - Concurrency and Coordination Runtime A client model for application developments DSS - Decentralized Software Services “Physics” based simulation Based on the AGEIA package A framework for visual programming (PnP) Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 9 / 27 Introduction MSRS Overview A few details Competitors Summary CCR Concurrency and Coordination Run-Time Based on .NET 2.0 Asynchronous message passing framework Separating communication and computing Light weight process management Single DLL for interfacing to a number of languages C#, C++, Python, VB Inspired by a web based services Used in applications such as MySpace Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 10 / 27 Introduction MSRS Overview A few details Competitors Summary CCR Specification of IO ports Types data channels Coordination primitives Arbiters, Queues, Scheduling of IO Task Scheduling Local task schedulers / impact of IO on processing Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 11 / 27 Introduction MSRS Overview A few details Competitors Summary DSS Decentralized Software Services Defines standard I/O methods for services definition of a standard service identifier 1 setup of a “service” contract for interaction 2 object to capture service “state” 3 methods to handle service requests 4 error recovery methods 5 Includes yellow page service Standard IO models (Push, Pull, Query, Subscription) Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 12 / 27
Introduction MSRS Overview A few details Competitors Summary Outline Introduction 1 MSRS Overview 2 A few details 3 Competitors 4 Summary 5 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 13 / 27 Introduction MSRS Overview A few details Competitors Summary Web based status Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 14 / 27 Introduction MSRS Overview A few details Competitors Summary A trivial example Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 15 / 27 Introduction MSRS Overview A few details Competitors Summary A little realism Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 16 / 27
Introduction MSRS Overview A few details Competitors Summary Communication Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 17 / 27 Introduction MSRS Overview A few details Competitors Summary Visual Programming Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 18 / 27 Introduction MSRS Overview A few details Competitors Summary MSRS Simulation AGEIA / PhysX has a physics based simulation engine Exploits graphics hardware Simplified robot models Adequate for basic prototyping Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 19 / 27 Introduction MSRS Overview A few details Competitors Summary Standard Interfaces Has interfaces for standard robots Pioneer, iRobot Create, Lego NXT, Parallax, . . . Interfaces to standard sensors USB camera, SICK LMS-221, Canon IR, Garmin GPS, . . . Number of supported units has grown significantly the last year Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 20 / 27
Introduction MSRS Overview A few details Competitors Summary Getting to knoow MSRS Rich set of tutorials on the web CCR basics, DSS basics, to understand the basis C# knowledge is recommended Use Visual Studio 2005 Express Edition (Free) Sample Tutorials on simple actions and full systems KUKA Education Framework Joint Control, Cartesian Control, Mobile Systems Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 21 / 27 Introduction MSRS Overview A few details Competitors Summary Outline 1 Introduction MSRS Overview 2 A few details 3 Competitors 4 Summary 5 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 22 / 27 Introduction MSRS Overview A few details Competitors Summary Competitors OROCOS Open Robot Control System Manipulator Oriented Open Source Control ORCA Open Robot Control Architecture Mobile Platforms software with rich library Saphira Mobile Robotics / Pioneer System Player-Stage Open Source Device Library Most iwdely used OSS for robotics ERSP Evolution Robotics Software Package The objectives are the same as for MSRS Comprehensive package - cost is a challenge Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 23 / 27 Introduction MSRS Overview A few details Competitors Summary Short Comparison System Architecture Language Devices Doc MSRS HD C#, VB, C++, Python Some ++ OROCOS React C++ Manip ++ ORCA HD C++/Java Mobile ++ Saphira HD/SHM C, C++ Pioneer + Player ? C++, Java,. . . MANY +++ ERSP HD C++, Python ER1, ... ++ Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 24 / 27
Introduction MSRS Overview A few details Competitors Summary Outline Introduction 1 MSRS Overview 2 A few details 3 Competitors 4 Summary 5 Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 25 / 27 Introduction MSRS Overview A few details Competitors Summary Summary Brief introduction to MSRS Systems integration is key to success MSRS is one option and the future will be interesting C# / .NET knowledge a significant advantage There is a learning curve but now there are good tutorials and the documentation is OK. For 8803 there are standard drivers for all devices Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 26 / 27 Introduction MSRS Overview A few details Competitors Summary Questions? Questions? Christensen-Stilman (RIM@GT) 8803-MM-08 (MSRS) January 21, 2008 27 / 27
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