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Team Detective Manish Shrestha
1Team Detective ADS Review
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
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
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
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
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
Team Detective Noorin Fatima
7Team Detective ADS Review
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
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
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
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
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
Team Detective Mridul Chowdhury
13Team Detective ADS Review
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
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
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
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
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
Team Detective Anurag Mishra
19Team Detective ADS Review
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
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
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
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
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
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
?’s26Team Detective ADS Review