Transcript Darrell Sims - Mitre SW for Robot Car

The Mitre Meteor Robot
Control Software
“Simulate As You Operate”
Presented by Darrell L Sims
Richard M. Weatherly
Frederick S. Kuhl
Robert H. Bolling
Robert J. Grabowski
Overview
Background Information
Approach
Goals
Software Employment
Phases
 The Tortuga Framework
 Conclusion
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Background Information
 The Defense Advancement Research Projects
Agency (DARPA) challenge
 Mitre a non profit engineering company
 Construct and Implement code within 11
months
 Develop and created a software known as
Meteor
Approach
 Employ commercial solutions
 Tortuga Framework
 Java thread agent
 Apply main focus to certain areas and fan out
the rest
 Incremental “model-simulate test”
 Model by simulating and replaying
 Test in real situation
 Craft the control software and execution
environment
 Receiving maximum utility from software
developement
Software Employment Phases
 Primary Goal:
Create a single body of code that employed
operational, developmental and analytical
phases
 The development team must achieve three
goals
 Build real time code
 Support robot control algorithms
 Record operational data from the field
Operational Employment
 Produce vehicle command control and
populate agent process sensor inputs
 Look outs
 -I/0 with physical sensors
 Watch officers
 Receive Data
 Executives
 Assess the system state
 Wait time to pass
Operational Employment Diagram
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Introduction
Goals
Problem
Possible Solutions
Development Employment
 Laser Sensor Model
 Evaluates changing vehicle location and
orientation values to produce geometric
values
 Determines whether static collection of
obstacles
 GPS models
 Compute velocity, orientation, and location
 Wheel Rotation Model
 Analysis of acceleration values to convey
displacement
Development Employment
Analytical Employment
 Record Messages using the “Replayer”
 Managed sensors removed from the software
 Using controls found in Tortuga, which set the
ratio from simuation time to real time
 Tortuga Framework
 A product of Mitre sponsored simulation
software
 Written in Java and incorporates third party
open source software
 Used as simulation software for air traffic control
and military analysis
Analytical Employment Diagram
Features of Tortuga
 Action methods and triggers
 Action methods
 Issued upon a simulation entity
 Represent the occurrences of exogenous
events or interruptions
 Ex: arrival of messages
 Triggers
 Boolean predicate
 Wait in system until a certain condition arises
 Ex: Entities being with range of a sensor
Conclusion
 The simulation structure “process-interaction”
method
 Future Event List for movement upon arrival
 Achieve the employment transparency by a
single body of code
 Messages communicated through Java
Threads
 Lost the race
Questions?