Final Presentation

Software / hardware combination Implement Microsoft Robotics Studio Lego NXT Platform Flexible Platform

Purchase and configure the Lego Mindstorms NXT platform to include design and construction of the robot and testing the sensors/servos.

Install MSRS and Microsoft Visual Studio or Microsoft Visual C#

Develop UI for manual control Develop autonomous operation Integrate mapping sensor data (distance to nearest object

and touch sensor being pressed) to provide visual representation of the sensor data to be used in the manual control interface, and to enhance autonomous operation by using stored mapping data.

Sensors, motors, “brick”Communication link

Microsoft Robotics StudioMicrosoft Visual Studio 2008Windows XPVerbose Text to Speech

Handling obstaclesFluid, normal speed, reaction timeUnderstanding Lego NXT Capabilities

/ LimitationsAutonomous Operation Algorithm

Ultrasonic sensor Provides “vision” for robot using sonar Has 30 degree field of vision Will turn even though it appears to be clear

-30 degrees

+30 degrees

24 inches opening

Robot width 6 inches

Distance to robot 15 inches: Threshold met, make a turn

Limited by the parts in the Lego NXT Kit Limited to flat surfaces Only one touch sensor Ultrasonic not laser vision Program parameters static, environment is

dynamic▪ Example, carpet vs. hard floor

=$820,000,000$820,000,000 $300$300

Challenge due to concurrency, orchestration of sensors/actuators Example: Touch sensor pressed

▪ Action required, reverse▪ If reverse touch sensor now false▪ Must capture state

Automation Algorithm Move forward while distance >40cm && Touch = False If Touch = true reverse If Distance <40cm turn left

▪ If Distance is still <40cm turn right▪ If Distance is still < 40cm reverse in an arch

ExpectationsWhy choose XBOX Controller?Features

Robot CommunicationDSS CommandsOrchestration, logic analysis

Programs are compiledSent to brick unit streamed in real

time, link must existBluetooth Protocol