R.O.M.PRobot Orientation Mapping Project

Team Evolution

Peri Subrahmanya:

Lead Designer

Michael Lazar:

Project Manager

Sean Hogan:

Lead Designer

Joe Hackstadt:

Lead Programmer

Sean Williams:

Documentation & Testing

Overview

• Main Interfaces of the project• Main Architecture of the project• Functions of Subsystems• Implementation Details• Development Tools• Requirements Met?• Questions Time

Team Evolution

AppletGenerates and updates user interface

Middle ManCoordinates communication request among

all applets and the clientManages user time slices

ClientInterprets and relays high-level commands from Middle Man to low-level P2OS server

Contains and uses grid map

P2OSDirectly Controls Robot Hardware

Existing ArchitectureUser

Person wanting to control robot

RobotRobot to be controlled

User | Applet Interface Applet |

Middleman Interface

Middleman | Client Interface

Client | P2OS Interface

P2OS | Robot Interface

Web Browser

Java

C++ / Aria

AppletGenerates and updates user interface

Middle ManCoordinates communication request among

all applets and the clientManages user time slices

ClientInterprets and relays high-level commands from Middle Man to low-level P2OS server

Contains and uses grid map

P2OSDirectly Controls Robot Hardware

Architecture Modifications

Mapping

Camera Control

Control Implementation

Communication (via connHandler)

Verification of new commands

Implementation of new commands

Control Feedback

Communication (via connHandler)

Localization feedback

Website Organization

• Main page directs user to major areas• Major areas provide information & links• Relevant material on common pages• Links repeated at anticipated locations• Robot schedule always on left side• Frames remain in same locations

Team Evolution

Existing Web InterfaceTeam Evolution

New Web InterfaceTeam Evolution

Subsystems

• Existing– Movement Controls

• Forward, left, right

• New– Movement and Camera Controls

• Pan control• Zoom control• Tilt control

Team Evolution

Subsystems (contd.)

• Tilt Control– Provides Tilt functionality

• Pan Control– Provides Pan functionality

• Zoom Control– Provides zoom functionality

Team Evolution

Team Evolution

Mapping Subsystem

Origin (0,0)

Team Evolution

+ X- X

- Y

+ Y

Map Construction

40 m = 40,000 mm

= 200 pixels

1 Pixel = 200mm

Team Evolution

Load Map

Plot Robot

Request robotposition from

middleman server

Requestcoordinatesfrom robot

Returnrobot positionto middleman

Returncoordinatesand angleto applet

Applet

Middleman

Robot

Mapping Subsystem

• Composed of two classes– Map class– Robot class

Team Evolution

Mapping Subsystem

• Composed of two classes– Map class

• Image of the map• Dimensions • Origin offset• Scalar• drawMap(top, left, height, width)• loadImage(image)• plotRobot(x, y, theta)

Team Evolution

Mapping Subsystem

• Composed of two classes– Robot class

• Image of the robot• X and Y position• Angle pointing• drawRobot(new x, new y, new theta)• loadImage(image)

Team Evolution

Development Tools

• Eclipse

• ARIA

• Sun Java Development Kit

• Visual Source A

• MS Visio

Team Evolution

Have We Met the Requirements?

• Orientation

• Do users know where they can go?

• Can users relate camera direction with robot heading?

• Are camera controls easy to use and understand.

Team Evolution

Team Evolution