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ADS (Bioloid Deployment)
 

ADS (Bioloid Deployment)

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    ADS (Bioloid Deployment) ADS (Bioloid Deployment) Document Transcript

    • Department of Computer Science and Engineering The University of Texas at Arlington FRIED Board Version 1.2 Heracleia Bioloid System Deployment Team Members: Brian Edgar David Castellanos Kyle Witt Raul Sieberath Jr Ryan Wilson Copy Printed: Mike O'Dell on
    • Contents 1 General...............................................................................................................................................7 2 Layer Definition Section Description.................................................................................................7 2.1 Bioloid Software GUI Layer.............................................................................................................7 2.2 Bioloid Software System Layer.........................................................................................................7 2.3 Communication Layer.......................................................................................................................8 2.4 Mobile Robot Layer..........................................................................................................................8 2.5 Base Station Layer............................................................................................................................8 2.6 TOP Layer.........................................................................................................................................8 3 Inter-Subsystem Dataflow..................................................................................................................9 4 Bioloid Software GUI Subsystems Descriptions..............................................................................12 4.1 Control Subsystem..........................................................................................................................12 4.1.1 General......................................................................................................................................12 4.1.2 Assumptions..............................................................................................................................12 4.1.3 Responsibilities..........................................................................................................................12 4.1.4 Subsystem Interface...................................................................................................................12 4.2 Top Subsystem................................................................................................................................13 4.2.1 General......................................................................................................................................13 4.2.2 Assumptions..............................................................................................................................13 4.2.3 Responsibilities..........................................................................................................................13 4.2.4 Subsystem Interface...................................................................................................................13 4.3 Authentication Subsystem...............................................................................................................13 4.3.1 General......................................................................................................................................13 4.3.2 Assumptions..............................................................................................................................13 4.3.3 Responsibilities..........................................................................................................................13
    • 4.3.4 Subsystem Interface...................................................................................................................13 5 Bioloid Software System Subsystems Descriptions..........................................................................14 5.1 Video Stream Subsystem.................................................................................................................14 5.1.1 General......................................................................................................................................14 5.1.2 Assumptions..............................................................................................................................14 5.1.3 Responsibilities..........................................................................................................................14 5.1.4 Subsystem Interface...................................................................................................................14 5.2 TOP Management Subsystem.........................................................................................................15 5.2.1 General......................................................................................................................................15 5.2.2 Assumptions..............................................................................................................................15 5.2.3 Responsibilities..........................................................................................................................15 5.2.4 Subsystem Interface...................................................................................................................15 5.3 Navigation Subsystem.....................................................................................................................15 5.3.1 General......................................................................................................................................15 5.3.2 Assumptions..............................................................................................................................16 5.3.3 Responsibilities..........................................................................................................................16 5.3.4 Subsystem Interface...................................................................................................................16 5.4 Scheduler Subsystem.......................................................................................................................16 5.4.1 General......................................................................................................................................16 5.4.2 Assumptions..............................................................................................................................16 5.4.3 Responsibilities..........................................................................................................................16 5.4.4 Subsystem Interface...................................................................................................................17 5.5 Storage Subsystem..........................................................................................................................17 5.5.1 General......................................................................................................................................17 5.5.2 Assumptions..............................................................................................................................17 5.5.3 Responsibilities..........................................................................................................................17
    • 5.5.4 Subsystem Interface...................................................................................................................17 6 Communication Subsystems Descriptions........................................................................................17 6.1 Server Communication Subsystem..................................................................................................17 6.1.1 General......................................................................................................................................17 6.1.2 Assumptions..............................................................................................................................18 6.1.3 Responsibilities..........................................................................................................................18 6.1.4 Subsystem Interface...................................................................................................................19 6.2 Base Station Communication Subsystem........................................................................................19 6.2.1 General......................................................................................................................................19 6.2.2 Assumptions..............................................................................................................................19 6.2.3 Responsibilities..........................................................................................................................19 6.2.4 Subsystem Interface...................................................................................................................19 6.3 Robot Interface Module Subsystem.................................................................................................19 6.3.1 General......................................................................................................................................19 6.3.2 Assumptions..............................................................................................................................20 6.3.3 Responsibilities..........................................................................................................................20 6.3.4 Subsystem Interface...................................................................................................................20 6.4 Robot Communication Subsystem..................................................................................................20 6.4.1 General......................................................................................................................................20 6.4.2 Assumptions..............................................................................................................................20 6.4.3 Responsibilities..........................................................................................................................20 6.4.4 Subsystem Interface...................................................................................................................20 6.5 TOP Communication Subsystem.....................................................................................................21 6.5.1 General......................................................................................................................................21 6.5.2 Assumptions..............................................................................................................................21 6.5.3 Responsibilities..........................................................................................................................21
    • 6.5.4 Subsystem Interface...................................................................................................................21 7 Robot Subsystems Descriptions........................................................................................................21 7.1 Robot Power Subsystem..................................................................................................................21 7.1.1 General......................................................................................................................................21 7.1.2 Assumptions..............................................................................................................................21 7.1.3 Responsibilities..........................................................................................................................21 7.1.4 Subsystem Interface...................................................................................................................22 7.2 Robot Control Subsystem................................................................................................................22 7.2.1 General......................................................................................................................................22 7.2.2 Assumptions..............................................................................................................................22 7.2.3 Responsibilities..........................................................................................................................22 7.2.4 Subsystem Interface...................................................................................................................22 8 Base Station Subsystems Descriptions..............................................................................................22 8.1 Charger Subsystem..........................................................................................................................22 8.1.1 General......................................................................................................................................22 8.1.2 Assumptions..............................................................................................................................22 8.1.3 Responsibilities..........................................................................................................................23 8.1.4 Subsystem Interface...................................................................................................................23 8.2 Top Loader Subsystem....................................................................................................................23 8.2.1 General......................................................................................................................................23 8.2.2 Assumptions..............................................................................................................................23 8.2.3 Responsibilities..........................................................................................................................23 8.2.4 Subsystem Interface...................................................................................................................23 9 TOP Subsystems Descriptions..........................................................................................................24 9.1 Camera Subsystem..........................................................................................................................24 9.1.1 General......................................................................................................................................24
    • 9.1.2 Assumptions..............................................................................................................................24 9.1.3 Responsibilities..........................................................................................................................24 9.1.4 Subsystem Interface...................................................................................................................24 9.2 Thermometer Subsystem.................................................................................................................24 9.2.1 General......................................................................................................................................24 9.2.2 Assumptions..............................................................................................................................24 9.2.3 Responsibilities..........................................................................................................................24 9.2.4 Subsystem Interface...................................................................................................................24 9.3 Lift Subsystem................................................................................................................................25 9.3.1 General......................................................................................................................................25 9.3.2 Assumptions..............................................................................................................................25 9.3.3 Responsibilities..........................................................................................................................25 9.3.4 Subsystem Interface...................................................................................................................25 9.4 Flashlight Subsystem.......................................................................................................................25 9.4.1 General......................................................................................................................................25 9.4.2 Assumptions..............................................................................................................................25 9.4.3 Responsibilities..........................................................................................................................25 9.4.4 Subsystem Interface...................................................................................................................25
    • 1 General The basic outline of the architecture description is • Introduction • Layer Definitions • Inter-Layer Dataflow • Inter-Subsystem Dataflow • Subsystem Definitions 2 Layer Definition Section Description Public Interface Bioloid Software GUI Bioloid Software System Communication TOP Mobile Robot Base Station Figure 1 – High level layer diagram 2.1 Bioloid Software GUI Layer This layer is the main interface between the end user and the Bioloid System. It serves the end user and consumes data from the Bioloid Software System. 2.2 Bioloid Software System Layer The Bioloid Software System Layer serves as a bridge between the Bioloid Software GUI Layer and the Communication Layer. It also provides data storage and retrieval.
    • 2.3 Communication Layer The Communication Layer is responsible for relaying messages between the server and the lower layers in the system. 2.4 Mobile Robot Layer The Mobile Robot Layer is responsible for the functions of the robot itself. It will contain two subsystems, power and control. It will handle robot movement as well as provide power to other layers as needed. 2.5 Base Station Layer The Base Station Layer is responsible for providing services to the mobile robot. These services include top storage and charging. They are reflected in the layers two subsystems, charging and TOP loading. 2.6 TOP Layer The TOP Layer provides data to the Bioloid Software System Layer. There are three types of data provided: High-quality video stream, Infrared video stream and temperature readings.
    • 3 Inter-Subsystem Dataflow Public Interface Browser 25 26 27 Bioloid Software GUI Control Top Authentication 1 2 20 21 3 23 Communication Bioloid Software System Top Management Video Stream Storage 4 Subsystem Subsystem Subsystem 6 Server Communication Subsystem Scheduler 24 7 Subsystem 9 Navigation Subsystem 5 Robot Interface Module Subsystem 19 8 Tops TOP Communication 18 Subsystem 22 Flashlight Thermometer Camera Lift Subsystem Subsystem Subsystem Subsystem 11 10 12 17 Mobile Robot Navigational Robot Power Camera Robot Subsystem 15 Subsystem Communication Subsystem 13 Robot Control Subsystem 16 Base Station Base Station Tops Loader Charger Communication 14 Subsystem Subsystem Subsystem Data flow Energy flow Figure 2 - Bioloid Architectural Dataflow Diagram
    • Data Element Descriptions 1 TOP commands from the GUI, and TOP information to the GUI 2 Scheduler information to the GUI 3 Navigation information to the GUI 4 Commands from the scheduler to load or unload a TOP 5 Commands from the scheduler to move the Mobile Robot 6 Data between the server and TOPs or base station 7 Navigation data between the server and the Mobile Robot 8 Data between the RIM and the TOPs 9 Data between the RIM and the Bioloid Software System 10 Data between the RIM and the Mobile Robot 11 Data between the Bioloid Software System and the Base Station 12 Power to the RIM 13 Commands for robot movement and control 14 Commands for the TOP Loader subsystem 15 Battery power status 16 Charging power to the Mobile Robot 17 Power to the TOPs 18 Data flow to and from the TOPs 19 Streaming video from the high-quality camera top 20 Streaming video to the GUI of the high-quality camera 21 Authentication Data 22 Navigational Camera Stream to the Bioloid Software System 23 Navigational Camera Stream to the Bioloid Software GUI 24 Route and Schedule Data 25 User Command Data 26 User Top Data 27 User Authentication Data Table 1 - Inter-Subsystem Data Element Descriptions
    • Producer Software System Top Management Mobile Robot Navigational Camera Comm. Robot Interface Module Software System Video Stream Software GUI Authentication Comm. Base Station Comm. Software System Navigation Software System Scheduler Base Station Tops Loader Software System Storage Comm. Server Comm. Software GUI Control Comm. Robot Comm. Base Station Charger Mobile Robot Control Comm. Tops Comm. Mobile Robot Power TOP Thermometer Software GUI Top Public: Browser TOP Flashlight TOP Camera TOP Lift Consumer Software GUI: Control 1 2 3 23 25 Software GUI: Top 20 26 Software GUI: Authentication 21 27 Software System: Top Manage- ment 1 4 6 Software System: Scheduler 2 24 Software System: Navigation 3 5 7 Software System: Video Stream 23 20 19 22 Software System: Storage 21 24 TOP: Flashlight 17 18 TOP: Lift 17 18 TOP: Thermometer 17 18 TOP: Camera 19 17 18 Mobile Robot: Power 16 Mobile Robot: Control 13 Mobile Robot: Navigational Camera 22 Base Station: Tops Loader 14 Base Station: Charger Comm.: Server Comm. 11 6 7 9 Comm.: Robot Interface Module 12 9 8 10 Comm.: Tops Comm. 18 18 18 18 8 Comm.: Robot Comm. 15 13 10 Comm.: Base Station Comm. 14 11 Public: Browser 25 26 27 Table 2 – Producer/Consumer Relationships
    • 4 Bioloid Software GUI Subsystems Descriptions 4.1 Control Subsystem 4.1.1 General The Control Subsystem is responsible for the input from the end user. Moreover, it requests data from the Bioloid Software System and consumes data from it. 4.1.2 Assumptions It is assumed the user is computer literate. 4.1.3 Responsibilities • Display navigational camera feed • Receive commands from the user and forward to the appropriate Bioloid Software System Subsystem • Display status information for all subsystems 4.1.4 Subsystem Interface Method Description Information Information Required Returned cameraFeed Request navigational camera feed Stream moveRobot Request Mobile Robot to move Direction Acceptance Distance turnRobot Request Mobile Robot to turn Direction Acceptance Degrees cameraLift Request Camera to change its height Height Acceptance cameraTurn Request Camera to turn from its current Degrees Acceptance thermometerAn Request Thermometer to change its angle Degrees Acceptance thermometerRe Request Thermometer reading Reading loadTop Request to load TOP TOP ID Acceptance unloadTop Request to unload TOP Acceptance cameraStart Request camera to start streaming Stream cameraEnd Request camera to end streaming Acceptance cameraSnapSho Request camera to take a snapshot Picture newSchedule Create a new autonomous schedule Route Acceptance Date Time Recurrence editShedule Edit existing autonomous schedule Schedule Acceptance Date Time Recurrence
    • Table 3 - Interface Control Subsystem 4.2 Top Subsystem 4.2.1 General The TOP Subsystem is responsible for handling the stream from the camera TOP. 4.2.2 Assumptions None 4.2.3 Responsibilities • Display data from TOPs 4.2.4 Subsystem Interface Method Description Information Information Returned Required Start Start showing stream from Stream End End video stream Acceptance takeSnapshot Take a picture Current Picture saveStream Save video stream Current Video Table 4 - Interface TOP Subsystem 4.3 Authentication Subsystem 4.3.1 General The Authentication Subsystem provides user authentication. 4.3.2 Assumptions None 4.3.3 Responsibilities • Authenticate user 4.3.4 Subsystem Interface Method Description Information Required Information Returned login Login Username Acceptance Password
    • logout Logout Acceptance Table 5 - Interface Authentication Subsystem 5 Bioloid Software System Subsystems Descriptions 5.1 Video Stream Subsystem 5.1.1 General The Camera Subsystem will manage connections to the Navigation Video Camera, High Quality Video Camera, and Infrared Video Camera. It will provide an interface for the GUI Layer to stream data from the cameras. 5.1.2 Assumptions None 5.1.3 Responsibilities • Connect to cameras • Maintain the connections to cameras • Stream video data from cameras • Make video streams available to the GUI Layer 5.1.4 Subsystem Interface Method Description Information Information Required Returned Start Starts camera Current Stream Status Retrieves status of Current Status End Camera Close camera Current Acceptance takeSnapshot Take a picture Current Picture saveStream Save video stream Current Video Table 6 - Interface Camera Subsystem
    • 5.2 TOP Management Subsystem 5.2.1 General The TOP Management Subsystem will manage control and data flow to the Tops. It will use the Communications Layer to send and receive information to the individual Tops and Base Station. 5.2.2 Assumptions None 5.2.3 Responsibilities • Command Base Station to Unload/Load Top from Mobile Robot • Retrieve Status from active Top • Send Commands to Tops 5.2.4 Subsystem Interface Method Description Information Information Required Returned topStatus Retrieves the status of the active TOP. Status loadTop Commands the Base Station to load a ID Acceptance top onto the Mobile Robot. unloadTop Commands the Base Station to unload Acceptance TOP from Mobile Robot. changeAngle Sends command to current TOP to Angle Acceptance change angle. changeHeight Sends command to current Top to Height Acceptance change height. getTempReadin Retrieves the temperature Reading Reading g from the Thermometer Top. Table 7 - Interface TOP Management Subsystem 5.3 Navigation Subsystem 5.3.1 General The Navigation Subsystem receives movement commands and relays them to the Mobile Robot through the Communication Layer. It also handles creation and interpretation of routes.
    • 5.3.2 Assumptions None 5.3.3 Responsibilities • Sending movement commands to Mobile Robot • Recording a string of movement commands • Conversion of movement commands into a route • Conversion of a route into movement commands 5.3.4 Subsystem Interface Method Description Information Information Required Returned sendCommand Send commands to the Mobile Command Acceptance Robot. startRoute Start to record commands. -None Acceptance stopRoute Stop to record commands -None Route Table 8 - Interface Navigation Subsystem 5.4 Scheduler Subsystem 5.4.1 General The Scheduler Subsystem handles management of scheduled actions. 5.4.2 Assumptions None 5.4.3 Responsibilities • Creation of new scheduled actions • Editing of existing scheduled actions • Deletion of existing scheduled actions • Executing scheduled actions
    • 5.4.4 Subsystem Interface Method Description Information Information Required Returned newEvent Creates a new scheduled action. - Event Data Acceptance modifyEven Modifies an existing scheduled - Event Data Acceptance t deleteEvent action. a scheduled event. Deletes - Event ID Acceptance Table 9 - Interface Scheduler Subsystem 5.5 Storage Subsystem 5.5.1 General Storage Subsystem handles storage and retrieval of data. 5.5.2 Assumptions None 5.5.3 Responsibilities • Storage of data • Retrieval of data 5.5.4 Subsystem Interface Method Description Information Information Returned Required storeData Accepts data to storage. -Data Acceptance loadData Retrieves data from -Data ID -Data storage. Table 10 - Interface Storage Subsystem 6 Communication Subsystems Descriptions 6.1 Server Communication Subsystem 6.1.1 General The Server Communication Subsystem handles data flow to and from the Server Layer. It interfaces with the Robot Interface Module, and the Base Station Communication Subsystems.
    • 6.1.2 Assumptions None 6.1.3 Responsibilities • Establish a connection with the Robot Interface Module Subsystem • Establish a connection with Base Station Communication Subsystem • Exchange messages with subsystems within the Base Station Layer through the Base Station Communication Subsystem. • Exchange messages with the Mobile Robot and Tops Layers through the Robot Interface Module Subsystem. • Process messages received.
    • 6.1.4 Subsystem Interface Method Description Information Information Returned Required SendData Sends data from the • Data • Status • Size Table 11 - Interface Server Communication Subsystem 6.2 Base Station Communication Subsystem 6.2.1 General The Base Station Communication Subsystem handles data flow to and from the Base Station Layer. It interfaces with the Server Communication Subsystem. 6.2.2 Assumptions None 6.2.3 Responsibilities • Establish a connection with the Server Communication Subsystem • Exchange messages with subsystems within the Base Station Layer • Process messages received. 6.2.4 Subsystem Interface Method Description Information Information Returned Required SendData Sends data from the base • Data • Size •Acceptance Status Table 12 - Interface Base Station Communication Subsystem 6.3 Robot Interface Module Subsystem 6.3.1 General The Robot Interface Module Subsystem handles dataflow between the server, robot, and tops. It interfaces with the Server Communication, Robot Communication, and Tops Communication Subsystems
    • 6.3.2 Assumptions None 6.3.3 Responsibilities • Establish a connection with the Server Communication Subsystem • Establish a connection with the Robot Communication Subsystem • Establish a connection with the Tops Communication Subsystem • Exchange and route messages between the Server, Robot, and Tops Communication Subsystems 6.3.4 Subsystem Interface Method Description Information Information Returned Required sendData Sends data to the Data Acceptance Table 13 - Interface Robot Interface Module Subsystem 6.4 Robot Communication Subsystem 6.4.1 General The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem. 6.4.2 Assumptions None 6.4.3 Responsibilities • Establish a connection with the Robot Interface Module Subsystem • Exchange messages with subsystems within the Robot Layer • Process messages received 6.4.4 Subsystem Interface Method Description Information Information Returned Required sendData Sends data from the Data Acceptance
    • Table 14 - Interface Robot Communication Subsystem 6.5 TOP Communication Subsystem 6.5.1 General The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem. 6.5.2 Assumptions None 6.5.3 Responsibilities • Establish a connection with the Robot Interface Module Subsystem • Exchange messages with subsystems within the Tops Layer • Process messages received 6.5.4 Subsystem Interface Method Description Information Information Returned Required SendData Sends data from the Data Acceptance Table 15 - Interface TOP Communication Subsystem 7 Robot Subsystems Descriptions 7.1 Robot Power Subsystem 7.1.1 General The Robot Power Subsystem will be responsible for providing power to other subsystems. 7.1.2 Assumptions None 7.1.3 Responsibilities • Provide power to the Robot Interface Module Subsystem
    • • Provide power to the TOPs Layer • Send a periodic battery status message to the Bioloid Software System 7.1.4 Subsystem Interface This subsystem provides electric energy. 7.2 Robot Control Subsystem 7.2.1 General The Robot Control Subsystem is responsible for controlling the robot movements. 7.2.2 Assumptions None 7.2.3 Responsibilities • Accept movement commands, and react accordingly 7.2.4 Subsystem Interface Method Description Information Information Returned Required moveForwar Moves the robot forward. Speed Status MilliSec moveReverse Moves the robot in Speed Status MilliSec moveTurn Turns the robot. Speed Status MilliSec moveStop Stops all robot movement. Status Table 16 - Interface Robot Control Subsystem 8 Base Station Subsystems Descriptions 8.1 Charger Subsystem 8.1.1 General The Charger Subsystem provides power used to charge other subsystems. 8.1.2 Assumptions None
    • 8.1.3 Responsibilities • Provide power to recharge other subsystems • Notifies user of charging problems 8.1.4 Subsystem Interface This subsystem does not communicate with any other subsystems. 8.2 Top Loader Subsystem 8.2.1 General The Top Loader Subsystem loads and stores Tops. It is controlled by the Bioloid Software Subsystem through the Base Station Communication Subsystem. 8.2.2 Assumptions None 8.2.3 Responsibilities • Store Tops for later use • Load Tops onto Robot Subsystem • Manages top location • Notifies user and server of loading problems 8.2.4 Subsystem Interface Method Description Information Information Required Returned loadTop Attempts to load TOP onto the Mobile ID Acceptance Robot. unloadTo Attempts to unload TOP from the Mobile ID Acceptance p Robot and store it. Table 17 - Interface Top Loader Subsystem
    • 9 TOP Subsystems Descriptions 9.1 Camera Subsystem 9.1.1 General The Camera Sub System controls the sending of a video feed back to the server from the HQ camera and the infrared camera. 9.1.2 Assumptions None 9.1.3 Responsibilities • Sends video feed to the server 9.1.4 Subsystem Interface Method Description Information Information Returned cameraOn Sends power to the camera. • video feed cameraOff Cuts off power to the Acceptance Table 18 - Interface Camera Subsystem 9.2 Thermometer Subsystem 9.2.1 General The Thermometer Sub System will take readings from a target and send the results to the RIM. 9.2.2 Assumptions None 9.2.3 Responsibilities • Take temperature readings • Move up and down 9.2.4 Subsystem Interface Method Description Information Information Required Returned takeReading Turns on the thermometer to take • sec •temperature moveUp readingthermometer up Moves • degrees Acceptance moveDown Moves thermometer down • degrees Acceptance
    • Table 19 - Interface Thermometer Subsystem 9.3 Lift Subsystem 9.3.1 General Lift the camera up to three feet and can rotate a full circle. 9.3.2 Assumptions None 9.3.3 Responsibilities • Rotate • Move vertically 9.3.4 Subsystem Interface Method Description Information Information Returned Required MoveUp Moves the lift up. Sec Acceptance MoveDown Moves the lift Sec Acceptance Rotate Rotates the lift. Degrees Acceptance Table 20 - Interface Lift Subsystem 9.4 Flashlight Subsystem 9.4.1 General The Flashlight Subsystem turns on a LED light to help the high quality camera video quality. 9.4.2 Assumptions None 9.4.3 Responsibilities • Turn on/off • Move up/down 9.4.4 Subsystem Interface Method Description Information Information Returned Required
    • TurnOn Turns on the LED Acceptance TurnOff Turns off the LED Acceptance MoveUp Moves the LED up Degrees Acceptance MoveDown Moves the LED Degrees Acceptance Table 21 - Interface Flashlight Subsystem