Peter Motykowski

J.D. Pohlman

Brad White

Matt Allen

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BACKGROUNDBACKGROUND

Untidy senior Untidy senior project room project room (EB2029).(EB2029).

S.O.E. ActivMedia S.O.E. ActivMedia robots.robots.

CS425 group needs CS425 group needs a senior project.a senior project.

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ROLESROLES Team Leader – Peter MotykowskiTeam Leader – Peter Motykowski Lead Designer – Matt AllenLead Designer – Matt Allen Lead Documenter/Tester – J.D. Lead Documenter/Tester – J.D.

PohlmanPohlman Lead Programmer – Brad WhiteLead Programmer – Brad White

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Design to Design to Schedule Schedule ModelModelSoftware Concept:Software Concept:

Locate a chairLocate a chair

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Design to Design to Schedule Schedule ModelModelSoftware Concept:Software Concept:

Locate a deskLocate a desk

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Design to Design to Schedule Schedule ModelModelSoftware Concept:Software Concept:

Robot movesRobot moves

with chairwith chair

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Design to Design to Schedule Schedule ModelModelSoftware Concept:Software Concept:

Robot moves Robot moves

without chairwithout chair

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CLASS DIAGRAMCLASS DIAGRAM

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SOFTWARE TOOLS & RESOURCES

New Saphira 8.1 (integrated ARIA implementation)

Runs on both win32 and Unix platforms

Colbert - Sophisticated scripting environment

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Concurrent development

Need not develop on the actual robot

Facilitates testing

SOFTWARE TOOLS & RESOURCES

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STATE DIAGRAM

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SEQUENCE DIAGRAMSEQUENCE DIAGRAM

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TEST PLANCODING

STANDARDS

Variables

Declarations

Functions

In line

comments

One module at

a timeUse Colbert

LanguageSimulator

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PROTOTYPEPROTOTYPE

Move in square Move in square while holding a while holding a chairchair

Determine Determine feasibility of pulling feasibility of pulling a chaira chair

Evaluate accuracy Evaluate accuracy of movement while of movement while holding a chairholding a chair

6x6 Traversal Region

36 sq. ft.

8'-0

"

8'-0"

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COMMITTED RELATIONSHIPSCOMMITTED RELATIONSHIPS

Locate a chair (many stickers)Locate a chair (many stickers) Locate a desk (many stickers)Locate a desk (many stickers) Put one chair in one empty deskPut one chair in one empty desk

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CASUAL RELATIONSHIPSCASUAL RELATIONSHIPS

Locate a chair (few stickers)Locate a chair (few stickers) Locate a desk (few stickers)Locate a desk (few stickers) Put all chairs in an empty deskPut all chairs in an empty desk