Upload
akshar-desai
View
2.683
Download
3
Embed Size (px)
Citation preview
Programming Firebird 5 using Microsoft Robotics Studio 2008
-weekly seminar presentation byAnirban Basumallik,
M.Tech 2, ERTS Lab,IIT Bombay.
2nd September, 2010.
DemonstrationBurn the suitable program on the Firebird 5
that keeps reading the sensor values on the bot and communicates that over Xbee/serial port to the PC and
keeps reading the motor values from Xbee/serial port (as received from the PC) and sets the motor accordingly
Run the suitable service on MSRDS 2008
Demonstration (contd…)The monitoring system on the web browser
Console outputService state
Two services are orchestratingThe ABMFirebird5 service; andThe ABMWhiteLineFollowerFB5 service
How it is working
Firebird 5ABMFirebird5
ServiceABMWhiteLineFollowerFB5
Service
MSRDS Runtime
Part
ners
hip
Service
A service model [1]
Subscription & Partnership
A subscription model [4]
ComponentsMSRDS 2008 has the .NET framework at the base levelCCR layer exists over that
No need of explicitly creating threads, using semaphores or need to synchronize
It is operative in a way such that the whole system is responsive*, scalable* and efficient in dealing with failure
Takes care of load balancing*, scheduling* and coordinating
DSS layer exists over thatLoosely coupled services interact through each other via
partnership
* Claims by Microsoft, not verified by me
Other features: VPLVPL – Visual Programming Language
Gives a GUI (user friendliness) angle to programming
It is a data flow based programming model
A VPL Program [3]
Others: SimulationVSE – Visual Simulation Environment
Hardware is expensive, difficult to debug, and hard for a team to work concurrently
Simulation has a low barrier to entry, easy to prototype and test out new ideas
Useful for education, good learning and debugging tool
Architecture [2] Simulation and services [2]
MSRDS: Pros and ConsPros
Design highly scalable, concurrent and distributed robotics applications.*
Efficient backend and rich simulator.VPL: Makes simple robotics applications easy to compose
ConsKnowledge of coding is required for some significant
work.The complexity of C#Modelling of objects using third party software.Real Time constraint handling missing.
* Claims by Microsoft, not verified by me
References[1] Microsoft Corporation. Dss documentation. Website.
http://msdn.microsoft.com/[2] Microsoft Corporation. Video tutorials on
simulation. Website. http://msdn.microsoft.com/en-us/robotics/bb383569.aspx.
[3] Microsoft Corporation. Vpl documentation. Website. http://msdn.microsoft.com/en-us/library/bb483088.aspx.
[4] Microsoft Corporation. Service Tutorial 4. Website. http://msdn.microsoft.com/en-us/library/bb483060.aspx
THANK YOU