Microsoft Robotics Studio (Zeddy Iskandar)

8/3/2019 Microsoft Robotics Studio (Zeddy Iskandar)

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Microsoft Robotics Studio

Runtime, Simulation & VPL


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Microsoft Robotics Studio

Runtime, Simulation & VPLOverview

Zeddy Iskandar

Academic DeveloperMicrosoft Indonesia


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Presentation Outline

Microsoft Robotics Studio RuntimeOverview, Components and Concepts

Decentralized Software Services (DSS)

A lightweight, service oriented application modelbased around state manipulation

Concurrency and Coordination Runtime(CCR)

A message based model enabling fine grainedconcurrency and coordination without resorting tothreads, locks while avoiding traditionalasynchronous programming pitfalls


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Highly Diverse Market
http://store.irobot.com/product/index.jsp?productId=2586252&cp=2591511&parentPage=familyhttp://www.yujinrobot.com/english/index.phphttp://www.robotbits.com/displayimage.php?album=lastup&cat=0&pos=4


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Shared ChallengesInput from industry, hobbyists, academia, research,

Configuring sensors and actuators in running system

Coordinating sensors and actuators asynchronously

Starting and stopping components dynamicallyMonitoring/Interacting/Debugging running system

Development when access to robot is limited

Span multiple compute unitsRe-use of components across hardware platforms and

devices


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Overall Runtime Goals

Distributed Application Model (DSS)Simple, flexible, and service oriented

Coarse grained and loosely coupled

Compatible with existing Web infrastructure

Concurrent Programming Model (CCR)

Focus on coordination of messages

Hide traditional threads and locks primitivesEnable non thread blocking sequentialexecution between I/O, avoidingnesting/callback chains


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DSS Application Model

The definition of a Robotics application


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What is a Robotics Application?

An application is a composition of loosely-coupled components concurrently executing

Orchestration of sensors/actuatorsUser interface

Controlled/Autonomous behavior

A service is the unit of orchestration

MotorBumper 1(Sensor)

Orchestrator


Infrareddetector(Sensor)

MessageBox

(Actuator)


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Service PropertiesIdentityStructured State

Composition throughpartnering

Uniform BehaviorState retrieval andmanipulation

Service creation &

TerminationEvent notifications

Anatomy of a Service

Port

State

Handlers

Service

FIFO


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Service Abstraction

Services can represent any computationHardware: Sensors, actuators,

Software: UI, Storage,

Aggregation: Sensor fusion, mash-ups,

Reuse through composition

Separate State from Behavior (dont hide

state!)


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Sample Bumper Service

Structured State

Non-structured state handled out of band

Uniform Operations

Define operations over the state

GET, QUERY, UPDATE, DELETE, DROP,

SUBSCRIBE


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Sample Partner Relationship

Orchestrator Service subscribes to

bumper Service waiting for sensor input

A service can partner with arbitrarynumber of other services


Orchestrator


Infrareddetector(Sensor)

MessageBox

(Actuator)


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Service Interactions

Runtime, Hosting Environment, and

System Services


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Service Interaction

Service Interaction happens throughprotocols

HTTP is available for interactions from

Web browser and for providing UIEnables deep integration with existing Webinfrastructure

DSSP is a SOAP-based protocol availablefor inter-service communication

Augments HTTP model with structured datamanipulation and event notifications


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Distributed Applications

Services can rundirectly on a singlerobot

Services can run on

swarms ofcollaborating robots

Services can run oncomputers in the

networkApplicationstypically a mix


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Runtime Performance

Service-to-Service message throughput:Same process (with full cloning): 50,000msgs/second

Cross node,cross machine: 3,000 msgs/secNumbers from dual core 1.8GHz, 2GB RAM

Performance allows consistent use ofservice model for both local and distributedcase


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CCR Programming

The foundation for writing Robotics

Applications


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Messages, Ports, and Arbiters

Messages are sent to PortsPort myPort = new Port() ;myPort.Post (42) ;

Ports contain

A FIFO data-structure holding values in a portA list of continuations that can be executed pendingmessage arrival and arbitration

A continuation is represented by a C# delegate

Can either be named or anonymous

ArbitersImplement common concurrency constructs like joinpatterns and interleaved calculations


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Example: Iterators make adifference

IEnumerator MultistageIterator()

{

bool result = false;

Port port = new Port();

// Stage A, send requestport.Post(true);

yield return Arbiter.Receive(false, port, delegate(bool b) {result=b; });

// Stage B, received first result, send second request

port.Post(result);yield return Arbiter.Receive(false, port, delegate(bool b) {result=b; });

// Stage C, received second result, print it

Console.WriteLine(result);

}


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Example: ChoicePortSet port = new PortSet();

Activate(Arbiter.Choice(port, MyIntHandler, MyStringHandler)

);

void MyIntHandler(int i){

Console.WriteLine("Received: " + i);

}

void MyStringHandler(string s){

Console.WriteLine("Received: " + s);

}


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Example: Dynamic JoinPortSet resultsPort =

new PortSet();

// parallel computation by posting requestsFor (int i=0;i


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[ServiceHandler(ServiceHandlerBehavior.Concurrent)]public IEnumerator GetHandler(Get get){

get.ResponsePort.Post(_state);yield break;

}

[ServiceHandler(ServiceHandlerBehavior.Exclusive)]public IEnumerator UpdateHandler(Update update){

_state.CurrentResult += update.Body.Value;update.ResponsePort.Post(new UpdateResponse());yield break;

}

Declarative Coordination forServices


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Why a Simulator?

Robotics hardware isexpensive

Hardware can bedifficult to debug

Hard for a team towork concurrentlywith limited hardware


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Simulator ArchitectureThe Simulator Engine Service

Implemented as a service

Maintains world state

Manages input devices3D rendering using XNA

Ageia Physics Simulation

Graphical User Interface

Editor for modeling anddebugging

SimulationEngine

Service

XNA

GraphicsLibrary

DisplayHardware

AgeiaPhysicsEngine

User Interface / Editor


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Visual Programming

Language

Rapid Robot Prototyping


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MicrosoftVisual Programming Language

Visual programming environmentSimple programming with drag and drop

Application are diagrams

Blocks

Connections

Integrated into Microsoft Robotics Studio


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Guided Tour


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Hello, World!


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How does it work?

Exchange of messages between activitiesActivities

Perform an action on input message

Send result of the action as output message

Connections

Make output of one activity input of second

Input message Output message


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How does it work?

Exchange of messages between activitiesActivities

Perform an action on input message

Send result of the action as output message

Connections

Make output of one activity input of second

Input message


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Data Activity

Output message is a new data valueIgnores content of input message

Different types of data

int, string, double, bool,


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Service Activities

SimpleDialog is a DSS ServiceAll DSS services are activities in VPL

Provide access robot hardware, input devices,

behavior You can add your own activities!


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Service Activities

Services can have multiple actions, e.g.AlertDialog, PromptDialog, ConfirmDialog

Most actions have two output messages

Success may contain output valuesFault action could not complete


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Selecting Services

Services appear inthe Servicestoolbox

Use the search box toquickly find services.


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Making Connections

Drag output message of first activity


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Making Connections

to second activityPossible targets are highlighted


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Selecting Actions

When connecting an activity with multipleactions, select the desired action.

Selects theaction to which

to send themessage.

Selects theoutput messagethat is used as

input messagefor the action.


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Data Connections

Service actions define format required forinput message

Data Connections format messages

AlertDialog

requires aninput valuecalled AlertText.

Selects the part

of the inputmessage that isused for thetarget.


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H ll W ld! R i i d


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Hello, World! Revisited

Not connected.Automaticallyreceives anempty inputmessage.

Value:

H ll W ld! R i i d


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Value:Hello, World!(string)

H ll W ld! R i i d


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Value:Hello, World!(string)

H ll W ld! R i i d


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Data connectionsformats the inputmessage before itis sent to theactivity

Value:AlertText = Hello, World!(AlertText string)

H ll W ld! R i it d


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Not connected.Output message isignored.

Value:Empty

(Success)

E l 1


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Example 1

Create a new activity that translates thethumb-stick value of the XBox360controller to left and right power values ofa differential drive.

User defined activities

XB 360 C t ll


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XBox360 Controller

ThumbsticksChangenotification

X, Y coordinates forboth thumb-sticks:

LeftX, LeftY

RightX, RightY

float

X

Y

1.0-1.0

-1.0

1.0

G i Diff ti l D i


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Generic Differential Drive

Very simple drive systemControlled by applying different power to leftand right motor

SetDrivePowerActionLeftWheelPower, RightWheelPower:values between -1.0 and 1.0 (double)


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U A ti iti


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User Activities

Similar to service activitiesMultiple actions

Can send notifications

Have their own state

I l ti A ti


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Implementing ActionsInside an Activity

I l ti A ti


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Double-click opensthe activity andshows its

implementation.

I l ti A ti


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Implementing Actions


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Selects the currentaction that is shown.




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Input message ofthe action.

Output messageof the action.



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Implementing ActionsAction Properties





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Shows more properties of theaction and allows to add anddelete actions.



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Shows more properties of theaction and allows to add anddelete actions.

List of actions in theactivity.




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Change name anddescription tosomething useful.



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Add input values forthe thumb-stickcoordinates.


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Implementing ActionsConnecting the Input Message

Use the inputmessage like anyother message.



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Input values becomepart of the message.



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Implementing ActionsCreating the Output Message

Must put twomessage into onemessage.

Must put twomessages intoone message.



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Join combinestwo or moremessages.


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Value:Left = 0.3251Right = -0.73(Leftfloat, Right Float)

Join only creates the

output message ifthere are two inputmessages.



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Implementing ActionsSending the Output Message

Connect theresult message tothe right border.



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Conversion Activity


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Conversion Activity

?

Using your Activity


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Using your Activity


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Control Robot with

Wiimote


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Control Robot with

Speech

Additional Resources


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Additional Resources

Web sitehttp://www.microsoft.com/robotics

Community Newsgroup

http://msdn.microsoft.com/robotics/Princeton MSRS Page

http://pave.princeton.edu/main/urban-

challenge/msrs/
http://www.microsoft.com/roboticshttp://msdn.microsoft.com/robotics/http://pave.princeton.edu/main/urban-challenge/msrs/http://pave.princeton.edu/main/urban-challenge/msrs/http://pave.princeton.edu/main/urban-challenge/msrs/http://pave.princeton.edu/main/urban-challenge/msrs/http://pave.princeton.edu/main/urban-challenge/msrs/http://msdn.microsoft.com/robotics/http://www.microsoft.com/robotics


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Microsoft Robotics Studio (Zeddy Iskandar)

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