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Team Detective Manish Shrestha 1 Team Detective ADS Review

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Page 1: ADS Presentation

Team Detective Manish Shrestha

1Team Detective ADS Review

Page 2: ADS Presentation

Presentation Overview SunSPOT Layer Description SunSPOT Producer-Consumer Table Robot Layer Description Robot Producer-Consumer Table Architecture Use Cases

SunSPOT Robot

Questions

2Team Detective ADS Review

Page 3: ADS Presentation

SunSPOT: Overall Layer Data Flow

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

3Team Detective ADS Review

Page 4: ADS Presentation

SunSPOT: Five Main LayersThe SunSPOT part of the project has five main

layers:• User Interface Layer – This layer is responsible

for controlling the SunSPOT devices, and the data received from the SPOTs.

• Control Layer – Responsible for controlling the flow of data between the user interface, base SunSPOT device, and data management layers.

• Data Management Layer- Responsible for saving the data gathered from the SPOTs. It sends the requested data from the data files and displays it.

• Base Device Layer – Responsible for transmitting data between the free range SPOTs and the server.

• Free Range Device Layer– Responsible for transmitting data to the server via base station.

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

4Team Detective ADS Review

Page 5: ADS Presentation

SunSPOT Layer 1: User Interface Layer

Responsibilities:• Communicates with the user. • Selects the SunSPOTs and the

sensors of which the data is of interest.

• Displays the data stored in a graphical format for the user to view.

Inputs:• SPOT and its sensors selection

by the user.Outputs:• Data gathered from the

sensors of the selected SPOTs.

• Graphical representation of the data.

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

5Team Detective ADS Review

Page 6: ADS Presentation

SunSPOT Layer 2: Control LayerResponsibilities:• Carry out user

commands.• Control the data flow.• Save the data.Inputs:• User Commands.• Data gathered from

Base SunSPOT Device.Outputs:• Data Display in

graphical representation.

• Data saved in raw format.

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

DISPLAY DATA CONTROLRECEIVED DATA CONTROLUSER COMMAND CONTROL

6Team Detective ADS Review

Page 7: ADS Presentation

Team Detective Noorin Fatima

7Team Detective ADS Review

Page 8: ADS Presentation

SunSPOT Layer 3: Data Management Layer

Responsibilities:• Save the data gathered

from the SPOTs.• Send the requested

data and display.Inputs:• Data gathered from the

base SunSPOT device.• User commands that

request data.Outputs:• Data file.• Requested data by the

user.

BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

DISPLAY DATA CONTROLRECEIVED DATA CONTROLUSER COMMAND CONTROL

Brightness File

Accelerometer File

Temperature File

8Team Detective ADS Review

Page 9: ADS Presentation

SunSPOT Layer 4: Base SunSPOT Device Layer

Responsibilities:• Receive the data from

the free range SPOTs.• Transmit the data to

the free range SPOTs.Inputs:• Commands sent by the

user.• Data received from the

free range SPOTs.Outputs:• Data gathered from the

free range SPOTs.

BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

DISPLAY DATA CONTROLRECEIVED DATA CONTROLUSER COMMAND CONTROL

Brightness File

Accelerometer File

Temperature File

9Team Detective ADS Review

Page 10: ADS Presentation

SunSPOT Layer 5: Free Range Sensor Devices Layer

Responsibilities:• Receive the data from

the surroundings, and transmit it to the base station SPOT.

Inputs:• Commands from the

base station SPOT.Outputs:• Data gathered from the

surrounding.

BASE SUNSPOT DEVICE

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

DISPLAY DATA CONTROLRECEIVED DATA CONTROLUSER COMMAND CONTROL

Brightness File

Accelerometer File

Temperature File

Brightness

Accelerometer

Heat

10Team Detective ADS Review

Page 11: ADS Presentation

SunSPOT: PRODUCER-CONSUMER TABLE

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

Producer Layer UI

Con

trol

Dat

a M

anag

emen

t

Bas

e S

tatio

n

Fre

e R

ange

d S

pots

UI 1Control 2 3 3Data Management 4Base Station 5 6Free Ranged Spots 7

11Team Detective ADS Review

Page 12: ADS Presentation

Robot: Overall Layer Data Flow

12Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 13: ADS Presentation

Team Detective Mridul Chowdhury

13Team Detective ADS Review

Page 14: ADS Presentation

Robot: Two Main LayersThe Robot Architecture is

divided into two main layers:

Software Layer: Responsible to make Bioloid Robots carry out complex functions for its behavior.

Hardware Layer: Responsible for assembling functional robots using its parts.

Note: The SunSPOT free range device shall be attached to the robots to gather data.

14Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 15: ADS Presentation

Robot Layer 1: Software Layer

This Layer shall be implemented by creating one major component:

Behavior Control Program (BCP):

• BCP shall be written by the team using an inbuilt Behavior Control Programmer.

• It shall be deployed into the developed robot’s CM 5.

• It shall determine how a robot shall move and behave.

• It shall also include the higher level functions designed for the robots.

15Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 16: ADS Presentation

Robot Layer 2: Hardware LayerIn this layer, the following parts are

used to assemble the robot:CM 5

The robot’s Processing unit. This is where the BCP is deployed. The CM5 of the assembled robot shall control all other parts.

DynamixelsTwo types of dynamixels shall be used.

– AX-S1 Dynamixel: This device shall be used as bridges between different parts. This dynamixel handles complex rotation, giving the assembled robot complex behavioral capability.

– AX-12 Dynamixel: This device may be used in the robot to take Snapshot as one of the complex functions defined.

16Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 17: ADS Presentation

Functional Robots

Two robots shall be developed, using this architecture, which shall behave according to the BCP deployed into their respective CM-5 controllers. The two types of robots are:

• Simple Category Robot: This robot shall handle simple movement functions. The complex behavior capability of this robot shall be very limited. E.g., a car.

• Complex Category Robot: This robot shall handle complex movement with complex behavior capability. E.g., a humanoid.

Team Detective ADS Review 17

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 18: ADS Presentation

Robot: PRODUCER-CONSUMER TABLE

18Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3Producer Layer BCP

Dyna

mixe

ls

CM5

Othe

r Part

sBCP 1DynamixelsCM5 2 3Other Parts

Consumer Layer

Page 19: ADS Presentation

Team Detective Anurag Mishra

19Team Detective ADS Review

Page 20: ADS Presentation

Use Case #1: Activate the base SunSPOT device

• This use case allows the user to activate the base SunSPOT device for the SunSPOT, and get it ready to communicate with spots and the server.

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

20Team Detective ADS Review

Page 21: ADS Presentation

Use Case #2: Activate the free range SPOTs

• This use case allows the user to activate the free range SunSPOTs, and get it ready to communicate with the base SunSPOT device.

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

21Team Detective ADS Review

Page 22: ADS Presentation

Use Case #3: Power on the base SunSPOT device and the free range SPOTs

• This use case allows the user to turn on the base SunSPOT device and the free range spots.

USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

22Team Detective ADS Review

Page 23: ADS Presentation

Use Case #4: Select SPOTs and sensors to receive and display data

• This use case allows the user to filter SPOTs and sensors for displaying their data.

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

1

2

33

4 5

6

7

DATA CONTROL WINDOWSUDDEN-CHANGE-IN-DATA

DISPLAY WINDOWDATA DISPLAY WINDOWDATA OUTPUT WINDOW

DISPLAY DATA CONTROLRECEIVED DATA CONTROLUSER COMMAND CONTROL

23Team Detective ADS Review

Page 24: ADS Presentation

Use Case #5: Make the Bioloid Robot Move

• This use case allows the Bioloid robot to move in a certain pattern.

24Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 25: ADS Presentation

Use Case #6: Make the Bioloid Robot carry out a sophisticated command

• This use case allows the Bioloid robot to carry out a sophisticated command made using the API of the robot.

25Team Detective ADS Review

SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

12

3

Page 26: ADS Presentation

?’s26Team Detective ADS Review