The document outlines the democratization of robotics development through Microsoft's technologies such as the Coordination and Concurrency Runtime (CCR) and Distributed Services Framework (DSS). It discusses various programming concepts including message passing, task handling, and asynchronous operations in robotics development. Additionally, it highlights the accessibility of these tools for developers across different platforms and emphasizes the lower barriers to entry for building robotic applications.

1. The Ongoing Democratization of
Robotics Development
Paul Foster, Microsoft

3. Runtime
• CCR - Coordination
and Concurrency
library
• DSS - Distributed
Services Framework
Authoring Tools
• Visual Simulation
Runtime and Editor
• Visual Programming
Language
Services
• Samples and
tutorials
• Robot services
• Robot models
• Technology services

8. Concurrency And Coordination
Runtime (CCR)

11. DispatcherDispatcherPort
Dispatcher
Queues
ThreadsArbiterArbiter
HandlerHandler
Arbiter is attached to portArbiter is attached to port
Arbiter is activated on queueArbiter is activated on queue
Dispatcher schedules items
from its queues round-robin
to run in its threads
Dispatcher schedules items
from its queues round-robin
to run in its threadsPost places a message
on the port
Post places a message
on the port
Arbiter checks whether it
can consume the message
Arbiter checks whether it
can consume the message
Creates work item from
message and handler
Creates work item from
message and handler
Enqueue work itemEnqueue work item
Thread calls handler
with message as arg
Thread calls handler
with message as arg
Scheduler picks next
work item to execute
Scheduler picks next
work item to execute

12. Single-PortSingle-Port
PrimitivesPrimitives
Code-SchedulingCode-Scheduling
(non port-specific)(non port-specific)
Multi-PortMulti-Port
PrimitivesPrimitives

13. var dispatcher = new Dispatcher(0,”default”);
var queue = new DispatcherQueue(dispatcher);
var port = new Port<string>();
port.Post("Hello, World!");
Arbiter.Activate(queue,
port.Receive(message => Console.WriteLine(message)
)
);
Port: Building block for
sending and receiving
messages
Port: Building block for
sending and receiving
messages
Post: Queues a messagePost: Queues a message
Task: Delegate that
handles the message
(message is consumed)
Task: Delegate that
handles the message
(message is consumed)
Receive coordination
primitive
Receive coordination
primitive
Dispatcher uses fixed
number of threads,
schedules from queues
in round-robin
Dispatcher uses fixed
number of threads,
schedules from queues
in round-robin
Port on which to
receive the message
Port on which to
receive the message

14. void Start()
{
var queue = new DispatcherQueue();
var port = new Port<string>();
port.Post("Hello"); port.Post(“World”);
Arbiter.Activate(queue,
new IterativeTask(() => Hello(port) )
);
}
IEnumerator<ITask> Hello(Port<string> port)
{
for(var i=0; i<5; i++)
{
yield return port.Receive();
var message = (string)port;
Console.WriteLine(message);
}
Schedule iterative taskSchedule iterative task
Lambda captures
arguments for iterator
Lambda captures
arguments for iterator
Yield execution until
receive is satisfied
Yield execution until
receive is satisfied
Item retrieved
after yield
Item retrieved
after yield
Loops around
asynchronous
operations are easy
Loops around
asynchronous
operations are easy

15. CCR Concurrent
Processing

16. Decentralized Software
Services (DSS)

18. Microsoft Open Specification PromiseMicrosoft Open Specification PromiseMicrosoft Open Specification PromiseMicrosoft Open Specification Promise

19. <DriveState
<Connected>true</Connected>
<DistanceBetweenWheels>0.112</DistanceBetweenWheels>
<LeftWheel>
…
</LeftWheel>
<RightWheel>
…
</RightWheel>
<PollingFrequencyMs>80</PollingFrequencyMs>
<TimeStamp>2007-10-10T13:07:45.5195866-07:00</TimeStamp>
</DriveState>
Flexible UI
Service Orchestration

23. [Contract(Contract.Identifier)]
class RecordKeeperService : DsspServiceBase
{
[Partner(“PeopleLookup”,
Policy = PartnerCreationPolicy.UseExistingOrCreate,
Optional = false)]
peopleLookup.OperationsPort _peopleLookupPort =
peopleLookup.OperationsPort();
[ServicePort(“/recordkeeper”,AllowMultipleInstances = true]
OperationsPort _mainPort;
protected override void Start()
{
base.Start();
}
}
Declarative, dynamic
composition, annotations
picked up by visual editor
Declarative, dynamic
composition, annotations
picked up by visual editor
Attach handlers to operation
port, publish instance URI in
service directory
Attach handlers to operation
port, publish instance URI in
service directory

24. [ServiceHandler(ServiceHandlerBehavior.Concurrent)]
public IEnumerator<ITask> QueryHandler(Query queryOp)
{
var response = FindItem(queryOp.Body);
queryOp.ResponsePort.Post(response);
yield break;
}
[ServiceHandler(ServiceHandlerBehavior.Exclusive)]
public IEnumerator<ITask> UpdateHandler(Update updateOp)
{
QueryAge queryAgeOp;
yield return _peopleLookupPort.Query(out queryAgeOp);
int age = (int) queryAgeOp.ResponsePort;
UpdateRecord(age, updateOp.Body.Name);
updateOp.ResponsePort.Post(new UpdateResponse());
CCR Interleave is iterator-aware,
guaranteeing atomicity across
asynchronous steps
CCR Interleave is iterator-aware,
guaranteeing atomicity across
asynchronous steps

25. Create causality at root
of execution graph
Create causality at root
of execution graph
Failure occurs on one
of the side branches
Failure occurs on one
of the side branchesDeal with error as
message at origin
of execution
Deal with error as
message at origin
of execution

27. DSS/CCR
LogSync Sample

28. Building applications with Microsoft
Robotics Developer Studio

30. Building a custom robot
and environment

31. Available DSS servicesAvailable DSS services
RequestRequest
NotificationNotification
ResponseResponse
Service instanceService instance

32. VPL Explorer

35. MRDS 2008 Licensing
Academic Edition Researchers and Students. Free unlimited runtime
distribution. Via Academic Portal.
Standard Edition Professional Developers. Free unlimited runtime
distribution $499
Express Edition Hobbyists. Not permitted to distribute runtime $Free
More information at http://microsoft.com/robotics

36. • http://imaginecup.com/
• Robotics and Algorithm challenge
– Interpreting, solution design, best algorithm
– Robotics in a virtual environment
• 2009 Worldwide Finals: Egypt
– The robots are real!

37. Summary:
– Simpler concurrency and distributed computing
– Reusable components and standardization
– Lower barrier to entry
– All of these advantages are now available for
mobile, embedded, desktop and server
platforms.

38. © 2008 Microsoft Corporation. All rights reserved. Microsoft, Windows, Windows Vista and other product names are or may be registered trademarks and/or trademarks in the U.S. and/or other countries.
The information herein is for informational purposes only and represents the current view of Microsoft Corporation as of the date of this presentation. Because Microsoft must respond to changing market
conditions, it should not be interpreted to be a commitment on the part of Microsoft, and Microsoft cannot guarantee the accuracy of any information provided after the date of this presentation.
MICROSOFT MAKES NO WARRANTIES, EXPRESS, IMPLIED OR STATUTORY, AS TO THE INFORMATION IN THIS PRESENTATION.