dev003 programação e simulação de robots usando robotics...

Microsoft TechDays 2007 - Lisboa 21/03/2007 1:26 PM

2007 Microsoft Corporation. All rights reserved.

This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary. 1

DEV003

Programação e Simulação de Robots usando Robotics StudioJon [email protected], Robotics and Automation Group, CoroWare Inc.

Patrocinadores Agenda

Introduction to Microsoft Robotics StudioRationale

Design

Architectural Overview

Programming Model

Demonstrations of Robotics Studio Technologies

HTTP Interaction with Services

Simulation

Visual Programming




Introduction - Rationale

Robotics is hard because

There is a lack of reusable components

No standard hardware or hardware abstractions exist

Concurrent and distributed programming is hard and inherent in virtually all robotics software projects.

Testing in the real-world is excessively costly and simulation is costly or overly complex

High barrier to entry

Introduction - RationaleThe ‘hot buttons’ from Industry, hobbyists, academia and researchers:

Static and dynamic device configuration

Coordinating asynchronous device input

Starting and stopping components dynamically and independently

Monitoring and interacting with running systems

Improved development cycle, particularly with limited access to robot hardware

Spanning multiple compute units

Reuse of software, particularly across different hardware

Introduction - RationaleMicrosoft Robotics Studio addresses:

Reusable components: Introduces a paradigm that facilitates reuse

Standardization: Introduces a hardware abstraction paradigm

Concurrency and distributed computing: Introduces CCR and DSS to greatly simplify these tasks

Simulation: Introduces a high-fidelity, extensible virtual world

Barrier to Entry: Introduces a Visual Programming Language to make the advanced features more accessible to newcomers.

What is a Robotics Application?

A composition of loosely-coupled and concurrently executing components providing:

Orchestration of sensors and actuators

User Interaction

Control or Behavior logic

Introduction - Design

User Exp (UI)

Actuators

Orchestration

Behavior

Sensors




Introduction - Design

Addressing the Challenges

Runtime built on CLR 2.0

Concurrency and Coordination

Services for Hosting, Activation, Discovery and Debugging

HTTP Integration

Concurrency Library

Distribution

Infrastructure

Development

Environment

.Net Languages (C#, VB, Python, etc)

JScript, Ajax

Visual Programming

Simulation

Architecture

Architecture

Services are the basic building block

Structured state

Behavior

Partner services

Contract

Operations

Create and Terminate

State retrieval and manipulation

Subscription and Notification

Architecture

ServicesCan be used to abstract hardware

Can be composed and provide aggregated functionality (sensor fusion, for example)

Are inherently remotable and participate in distributed operations

Restartable and mobile (state transfer)

Must be inherently asynchronous




Architecture

But asynchronous programming is hard!

Sequential applications

Flat or incremental performance

Potentially poor responsiveness

Explicitly threaded apps

Hardwired number of threads prefer K processors for a given workload

Can penalize < K processors and fail to scale to > K processors

Hard to write and even harder to debug

Deadlock, livelock, and race conditions

Architecture

Scalable concurrent apps

Workload is decomposed into a ‘sea’ of heterogeneous concurrent work items

Lots of latent concurrency that can be dynamically mapped to available computational resources

Architecture

Coordinating asynchronous tasks

Architecture





Architecture


Architecture

Concurrencyand coordination

runtime

Runtime

Activation

Discovery

Diagnostics

Monitoring

UX

Storage

DecentralizedSystem

Services

Algorithms

…

Sensors

Actuators

ReferenceServices

Services

Simulation

Visualization

AuthoringServices

Sensors Actuators

Custom/Application Services

Orchestration Control

Architecture

Reference Services

Guidance on Implementation

Runtime discovery through simple queries

Abstraction from hardware

Shipped as source code and binaries

Algorithms

…

Sensors

Actuators

ReferenceServices

Services

Simulation

Visualization

AuthoringServices

Programming Model




Declaring your Service State and Operations

public sealed class Contract {public const String Identifier = "http://schemas.coroware.com/2006/10/machinedirectory.html";}

[DataContract()]

public class MachineDirectoryState {[DataMember]public List<ServiceInfoType> Services =

new List<ServiceInfoType>();}

public class MachineDirectoryOperations : PortSet<DsspDefaultLookup, DsspDefaultDrop, Get, Replace> {}

public class Get : Get<GetRequestType, PortSet<MachineDirectoryState, Fault>> { }

public class Replace : Replace<MachineDirectoryState, PortSet<DefaultReplaceResponseType, Fault>> { }

Programming Model Programming Model

Declaring a Service Port[ServicePort("/machinedirectory",

AllowMultipleInstances=false)]

private MachineDirectoryOperations _mainPort = new

MachineDirectoryOperations();

Defining Partnerships[Partner("NodeDirectory",

Contract=nds.Contract.Identifier,CreationPolicy =PartnerCreationPolicy.UseExistingOrCreate)]

private nds.NodeDirectoryOperations _nds = new nds.NodeDirectoryOperations();

Programming Model

Coordinating Asynchronous Tasks - A compositional, declarative pattern

protected override void Start() {

ActivateDsspOperationHandlers();

}

[ServiceHandler(ServiceHandlerBehavior.Concurrent)]

public virtual IEnumerator<ITask> GetHandler(Get get) {

get.ResponsePort.Post(_state);

yield break;

}

[ServiceHandler(ServiceHandlerBehavior.Exclusive)]

public virtual IEnumerator<ITask> ReplaceHandler(Replace replace) {

_state = replace.Body;

replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);

yield break;

}

Programming Model

Example: Choice// Subscribe to the local node directory service

nds.Subscribe sub = new nds.Subscribe();

sub.NotificationPort = _ndsNotify;

_nds.Post(sub);

Activate(

Arbiter.Choice<SubscribeResponseType,Fault>(

sub.ResponsePort,

delegate(SubscribeResponseType resp)

{ LogInfo("Successfully subscribed to node directory"); },

delegate(Fault fault)

{ _mainPort.Post(new DsspDefaultDrop()); })

);




Programming Model

Example: Interleave

ActivateDsspOperationHandlers().CombineWith(

Arbiter.Interleave(

new TeardownReceiverGroup(),

new ExclusiveReceiverGroup( Arbiter.Receive<nds.InsertLocalHostNotification>(

true, _ndsNotify, NdsInsertHostHandler),Arbiter.Receive<nds.DeleteLocalHostNotification>(

true, _ndsNotify, NdsDeleteHostHandler),Arbiter.Receive<dir.Insert>(

true, _dirNotify, DirInsertHandler), Arbiter.Receive<dir.Delete>(true, _dirNotify,

DirDeleteHandler)

),

new ConcurrentReceiverGroup()

));

Technologies

Technologies

Services run within an execution context called a ‘node’

Nodes expose http and SOAP/TCP endpoints

Technologies

HTTP Interaction with Services

Service state for all services is available by HTTP

Default response to GET is service state as XML

Services can expose richer data representations through xsl transformations




HTTP Interactions with Services

Technologies

Visual Programming Language

Create joins, choices and data pathways

Define partnerships with external services

All Services (regardless of language) are available on the diagram surface

Visual Programming

Technologies

Simulation

Cost effective

High-fidelity

Fast, incremental prototyping

Ageia PhyXMicrosoft XNASimulation Engine

Service

EntitiesApplication Services




Technologies

Simulation

Entities consist of:

A graphical representation of your object

Geometric shape

Complex mesh with materials and textures

A physics representation

Shape, Mass, CM, friction, joints

Physical shape (hull) can be automatically derived from geometric shapes and complex meshes

An entity can have both, either or neither representation(s)

Technologies

Simulation

Simulation services

Communicate with entities to effect changes in entity state (change position, orientation, physics attributes like torques and forces)

Communicate with application services through a service interface

This service interface should mimic the interface used for the real device on the real robot

Application services

Your application code

Should be identical code for simulation or real-world use

Simulation

Extending the Simulation Environment




Real-World Applications SummaryMicrosoft Robotics Studio addresses:

Reusable components: Introduces a paradigm that facilitates reuse

Standardization: Introduces a hardware abstraction paradigm

Concurrency and distributed computing: Introduces CCR and DSS to greatly simplify these tasks

Simulation: Introduces a high-fidelity, extensible virtual world

Barrier to Entry: Introduces a Visual Programming Language to make the advanced features more accessible to newcomers.

Call to ActionDownload version 1.0!

Run your first robot in the simulator - in the first hour

Write a VPL program and run it in the simulator - in the second hour

Get real: Get a BOEbot, Lego NXT, CoroWare robot, Roomba, or any one of many other robot models.

How many program systems look like robots but aren’t?

Home automation

P2P applications

SOA applications

Resources

Microsoft Robotics

http://www.microsoft.com/robotics

The team Blog, product downloads and community-support newsgroup are linked from this main page

Sandbox at http://channel9.msdn.microsoft.com

CoroWare, Inc.

Corporate: http://www.coroware.com

PlusPack extensions: http://downloads.coroware.com/pluspack.aspx

http://www.microsoft.com/robotics

http://channel9.msdn.microsoft.com/

http://www.coroware.com/

http://downloads.coroware.com/pluspack.aspx




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Dev 003

Programação e Simulação de Robots usando Robotics Studio

© 2007 Microsoft Corporation. All rights reserved.This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

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