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Department of Computer Science and Engineering
The University of Texas at Arlington
FRIED Board
Version 1.2
Heracleia Bioloid System Deployment
Team Members:
Brian Edgar
David Castellanos
Kyle Witt
Raul Sieberath Jr
Ryan Wilson
Copy Printed:
Kyle on 9/16/2008 11:00:00 PM
Contents
1 General...........................................................................................................................................7
2 Layer Definition Section Description.............................................................................................7
2.1 Bioloid Software GUI Layer..........................................................................................................7
2.2 Bioloid Software System Layer......................................................................................................7
2.3 Communication Layer....................................................................................................................7
2.4 Mobile Robot Layer.......................................................................................................................8
2.5 Base Station Layer..........................................................................................................................8
2.6 TOP Layer......................................................................................................................................8
3 Inter-Subsystem Dataflow..............................................................................................................9
4 Bioloid Software GUI Subsystems Descriptions.........................................................................12
4.1 Control Subsystem........................................................................................................................12
4.1.1 General....................................................................................................................................12
4.1.2 Assumptions............................................................................................................................12
4.1.3 Responsibilities.......................................................................................................................12
4.1.4 Subsystem Interface................................................................................................................12
4.2 Top Subsystem.............................................................................................................................13
4.2.1 General....................................................................................................................................13
4.2.2 Assumptions............................................................................................................................13
4.2.3 Responsibilities.......................................................................................................................13
4.2.4 Subsystem Interface................................................................................................................13
4.3 Authentication Subsystem............................................................................................................13
4.3.1 General....................................................................................................................................13
4.3.2 Assumptions............................................................................................................................13
4.3.3 Responsibilities.......................................................................................................................13
4.3.4 Subsystem Interface................................................................................................................13
5 Bioloid Software System Subsystems Descriptions.....................................................................14
5.1 Video Stream Subsystem..............................................................................................................14
5.1.1 General....................................................................................................................................14
5.1.2 Assumptions............................................................................................................................14
5.1.3 Responsibilities.......................................................................................................................14
5.1.4 Subsystem Interface................................................................................................................14
5.2 TOP Management Subsystem......................................................................................................14
5.2.1 General....................................................................................................................................14
5.2.2 Assumptions............................................................................................................................14
5.2.3 Responsibilities.......................................................................................................................15
5.2.4 Subsystem Interface................................................................................................................15
5.3 Navigation Subsystem..................................................................................................................15
5.3.1 General....................................................................................................................................15
5.3.2 Assumptions............................................................................................................................15
5.3.3 Responsibilities.......................................................................................................................15
5.3.4 Subsystem Interface................................................................................................................16
5.4 Scheduler Subsystem....................................................................................................................16
5.4.1 General....................................................................................................................................16
5.4.2 Assumptions............................................................................................................................16
5.4.3 Responsibilities.......................................................................................................................16
5.4.4 Subsystem Interface................................................................................................................16
5.5 Storage Subsystem........................................................................................................................16
5.5.1 General....................................................................................................................................16
5.5.2 Assumptions............................................................................................................................17
5.5.3 Responsibilities.......................................................................................................................17
5.5.4 Subsystem Interface................................................................................................................17
6 Communication Subsystems Descriptions...................................................................................17
6.1 Server Communication Subsystem...............................................................................................17
6.1.1 General....................................................................................................................................17
6.1.2 Assumptions............................................................................................................................17
6.1.3 Responsibilities.......................................................................................................................17
6.1.4 Subsystem Interface................................................................................................................18
6.2 Base Station Communication Subsystem.....................................................................................18
6.2.1 General....................................................................................................................................18
6.2.2 Assumptions............................................................................................................................18
6.2.3 Responsibilities.......................................................................................................................18
6.2.4 Subsystem Interface................................................................................................................18
6.3 Robot Interface Module Subsystem.............................................................................................18
6.3.1 General....................................................................................................................................18
6.3.2 Assumptions............................................................................................................................18
6.3.3 Responsibilities.......................................................................................................................19
6.3.4 Subsystem Interface................................................................................................................19
6.4 Robot Communication Subsystem...............................................................................................19
6.4.1 General....................................................................................................................................19
6.4.2 Assumptions............................................................................................................................19
6.4.3 Responsibilities.......................................................................................................................19
6.4.4 Subsystem Interface................................................................................................................19
6.5 TOP Communication Subsystem.................................................................................................19
6.5.1 General....................................................................................................................................19
6.5.2 Assumptions............................................................................................................................20
6.5.3 Responsibilities.......................................................................................................................20
6.5.4 Subsystem Interface................................................................................................................20
7 Robot Subsystems Descriptions...................................................................................................20
7.1 Robot Power Subsystem...............................................................................................................20
7.1.1 General....................................................................................................................................20
7.1.2 Assumptions............................................................................................................................20
7.1.3 Responsibilities.......................................................................................................................20
7.1.4 Subsystem Interface................................................................................................................20
7.2 Robot Control Subsystem.............................................................................................................20
7.2.1 General....................................................................................................................................20
7.2.2 Assumptions............................................................................................................................21
7.2.3 Responsibilities.......................................................................................................................21
7.2.4 Subsystem Interface................................................................................................................21
8 Base Station Subsystems Descriptions.........................................................................................21
8.1 Charger Subsystem.......................................................................................................................21
8.1.1 General....................................................................................................................................21
8.1.2 Assumptions............................................................................................................................21
8.1.3 Responsibilities.......................................................................................................................21
8.1.4 Subsystem Interface................................................................................................................21
8.2 Top Loader Subsystem.................................................................................................................22
8.2.1 General....................................................................................................................................22
8.2.2 Assumptions............................................................................................................................22
8.2.3 Responsibilities.......................................................................................................................22
8.2.4 Subsystem Interface................................................................................................................22
9 TOP Subsystems Descriptions.....................................................................................................22
9.1 Camera Subsystem.......................................................................................................................22
9.1.1 General....................................................................................................................................22
9.1.2 Assumptions............................................................................................................................22
9.1.3 Responsibilities.......................................................................................................................22
9.1.4 Subsystem Interface................................................................................................................23
9.2 Thermometer Subsystem..............................................................................................................23
9.2.1 General....................................................................................................................................23
9.2.2 Assumptions............................................................................................................................23
9.2.3 Responsibilities.......................................................................................................................23
9.2.4 Subsystem Interface................................................................................................................23
9.3 Lift Subsystem..............................................................................................................................23
9.3.1 General....................................................................................................................................23
9.3.2 Assumptions............................................................................................................................23
9.3.3 Responsibilities.......................................................................................................................23
9.3.4 Subsystem Interface................................................................................................................24
9.4 Flashlight Subsystem....................................................................................................................24
9.4.1 General....................................................................................................................................24
9.4.2 Assumptions............................................................................................................................24
9.4.3 Responsibilities.......................................................................................................................24
9.4.4 Subsystem Interface................................................................................................................24
1 General
The basic outline of the architecture description is
Introduction Layer Definitions Inter-Layer Dataflow Inter-Subsystem Dataflow Subsystem Definitions
2 Layer Definition Section Description
Figure 1 – High level layer diagram
2.1 Bioloid Software GUI Layer
This layer is the main interface between the end user and the Bioloid System. It serves the end user and consumes data from the Bioloid Software System.
2.2 Bioloid Software System Layer
The Bioloid Software System Layer serves as a bridge between the Bioloid Software GUI Layer and the Communication Layer. It also provides data storage and retrieval.
2.3 Communication Layer
The Communication Layer is responsible for relaying messages between the server and the lower layers in the system.
2.4 Mobile Robot Layer
The Mobile Robot Layer is responsible for the functions of the robot itself. It will contain two subsystems, power and control. It will handle robot movement as well as provide power to other layers as needed.
2.5 Base Station Layer
The Base Station Layer is responsible for providing services to the mobile robot. These services include top storage and charging. They are reflected in the layers two subsystems, charging and TOP loading.
2.6 TOP Layer
The TOP Layer provides data to the Bioloid Software System Layer. There are three types of data provided: High-quality video stream, Infrared video stream and temperature readings.
3 Inter-Subsystem Dataflow
Figure 2 - Bioloid Architectural Dataflow Diagram
Data Element
Descriptions
1 TOP commands from the GUI, and TOP information to the GUI
2 Scheduler information to the GUI
3 Navigation information to the GUI
4 Commands from the scheduler to load or unload a TOP
5 Commands from the scheduler to move the Mobile Robot
6 Data between the server and TOPs or base station
7 Navigation data between the server and the Mobile Robot
8 Data between the RIM and the TOPs
9 Data between the RIM and the Bioloid Software System
10 Data between the RIM and the Mobile Robot
11 Data between the Bioloid Software System and the Base Station
12 Power to the RIM
13 Commands for robot movement and control
14 Commands for the TOP Loader subsystem
15 Battery power status
16 Charging power to the Mobile Robot
17 Power to the TOPs
18 Data flow to and from the TOPs
19 Streaming video from the high-quality camera top
20 Streaming video to the GUI of the high-quality camera
21 Authentication Data
22 Navigational Camera Stream to the Bioloid Software System
23 Navigational Camera Stream to the Bioloid Software GUI
24 Route and Schedule Data
25 User Command Data
26 User Top Data
27 User Authentication Data
Table 1 - Inter-Subsystem Data Element Descriptions
Producer
Consumer Softw
are
GUI
Con
trol
Com
m. B
ase
Stat
ion
Com
m.
Softw
are
GUI
Top
Softw
are
GUI
Aut
hent
icatio
n
Softw
are
Syst
em T
op M
anag
emen
t
Softw
are
Syst
em S
ched
uler
Softw
are
Syst
em N
avig
atio
n
Softw
are
Syst
em V
ideo
Stre
am
Softw
are
Syst
em S
tora
ge
TOP
Flas
hlig
ht
TOP
Lift
TOP
Ther
mom
eter
TOP
Cam
era
Mob
ile R
obot
Pow
er
Mob
ile R
obot
Con
trol
Mob
ile R
obot
Nav
igat
iona
l Cam
era
Base
Sta
tion
Tops
Loa
der
Base
Sta
tion
Char
ger
Com
m. S
erve
r Com
m.
Com
m. R
obot
Inte
rface
Mod
ule
Com
m. T
ops
Com
m.
Com
m. R
obot
Com
m.
Publ
ic: B
rows
er
Software GUI: Control 1 2 3 23 25
Software GUI: Top 20 26
Software GUI: Authentication 21 27
Software System: Top Manage-ment 1 4 6
Software System: Scheduler 2 24
Software System: Navigation 3 5 7
Software System: Video Stream 23 20 19 22
Software System: Storage 21 24
TOP: Flashlight 17 18
TOP: Lift 17 18
TOP: Thermometer 17 18
TOP: Camera 19 17 18
Mobile Robot: Power 16
Mobile Robot: Control 13
Mobile Robot: Navigational Camera 22
Base Station: Tops Loader 14
Base Station: Charger
Comm.: Server Comm. 11 6 7 9
Comm.: Robot Interface Module 12 9 8 10
Comm.: Tops Comm. 18 18 18 18 8
Comm.: Robot Comm. 15 13 10
Comm.: Base Station Comm. 14 11
Public: Browser 25 26 27
Table 2 – Producer/Consumer Relationships
4 Bioloid Software GUI Subsystems Descriptions
4.1 Control Subsystem
4.1.1 General
The Control Subsystem is responsible for the input from the end user. Moreover, it requests data from the Bioloid Software System and consumes data from it.
4.1.2 Assumptions
It is assumed the user is computer literate.
4.1.3 Responsibilities
Display navigational camera feed Receive commands from the user and forward to the appropriate Bioloid Software System
Subsystem Display status information for all subsystems
4.1.4 Subsystem Interface
Method Description Information Required
Information Returned
cameraFeed Request navigational camera feed StreammoveRobot Request Mobile Robot to move Direction Acceptance
DistanceturnRobot Request Mobile Robot to turn Direction Acceptance
DegreescameraLift Request Camera to change its height Height AcceptancecameraTurn Request Camera to turn from its Degrees Acceptancethermometer Request Thermometer to change its Degrees Acceptancethermometer Request Thermometer reading ReadingloadTop Request to load TOP TOP ID AcceptanceunloadTop Request to unload TOP AcceptancecameraStart Request camera to start streaming StreamcameraEnd Request camera to end streaming AcceptancecameraSnapS Request camera to take a snapshot PicturenewSchedule Create a new autonomous schedule Route Acceptance
DateTimeRecurrence
editShedule Edit existing autonomous schedule Schedule AcceptanceDateTimeRecurrence
Table 3 - Interface Control Subsystem
4.2 Top Subsystem
4.2.1 General
The TOP Subsystem is responsible for handling the stream from the camera TOP.
4.2.2 Assumptions
None
4.2.3 Responsibilities
Display data from TOPs
4.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
Start Start showing stream from StreamEnd End video stream AcceptancetakeSnapshot
Take a picture Current Picture
saveStream
Save video stream Current Video
Table 4 - Interface TOP Subsystem
4.3 Authentication Subsystem
4.3.1 General
The Authentication Subsystem provides user authentication.
4.3.2 Assumptions
None
4.3.3 Responsibilities
Authenticate user
4.3.4 Subsystem Interface
Method
Description
Information Required
Information Returned
login Login Username AcceptancePassword
logout Logout Acceptance
Table 5 - Interface Authentication Subsystem
5 Bioloid Software System Subsystems Descriptions
5.1 Video Stream Subsystem
5.1.1 General
The Camera Subsystem will manage connections to the Navigation Video Camera, High Quality Video Camera, and Infrared Video Camera. It will provide an interface for the GUI Layer to stream data from the cameras.
5.1.2 Assumptions
None
5.1.3 Responsibilities
Connect to cameras Maintain the connections to cameras Stream video data from cameras Make video streams available to the GUI Layer
5.1.4 Subsystem Interface
Method Description Information Required
Information Returned
Start Starts camera Current Stream
Status Retrieves status of Camera
Current Status
End Close camera Current Acceptance
takeSnapshot
Take a picture Current Picture
saveStream
Save video stream Current Video
Table 6 - Interface Camera Subsystem
5.2 TOP Management Subsystem
5.2.1 General
The TOP Management Subsystem will manage control and data flow to the Tops. It will use the Communications Layer to send and receive information to the individual Tops and Base Station.
5.2.2 Assumptions
None
5.2.3 Responsibilities
Command Base Station to Unload/Load Top from Mobile Robot Retrieve Status from active Top Send Commands to Tops
5.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
topStatus Retrieves the status of the active TOP.
Status
loadTop Commands the Base Station to load a top onto the Mobile Robot.
ID Acceptance
unloadTop Commands the Base Station to unload TOP from Mobile Robot.
Acceptance
changeAngle Sends command to current TOP to change angle.
Angle Acceptance
changeHeight Sends command to current Top to change height.
Height Acceptance
getTempReading
Retrieves the temperature Reading from the Thermometer Top.
Reading
Table 7 - Interface TOP Management Subsystem
5.3 Navigation Subsystem
5.3.1 General
The Navigation Subsystem receives movement commands and relays them to the Mobile Robot through the Communication Layer. It also handles creation and interpretation of routes.
5.3.2 Assumptions
None
5.3.3 Responsibilities
Sending movement commands to Mobile Robot Recording a string of movement commands Conversion of movement commands into a route Conversion of a route into movement commands
5.3.4 Subsystem Interface
Method Description Information
Required
Information Returned
sendCommand
Send commands to the Mobile Robot.
Command Acceptance
startRoute Start to record commands. -None AcceptancestopRoute Stop to record commands -None Route
Table 8 - Interface Navigation Subsystem
5.4 Scheduler Subsystem
5.4.1 General
The Scheduler Subsystem handles management of scheduled actions.
5.4.2 Assumptions
None
5.4.3 Responsibilities
Creation of new scheduled actions Editing of existing scheduled actions Deletion of existing scheduled actions Executing scheduled actions
5.4.4 Subsystem Interface
Method Description Information
Required
Information Returned
newEvent Creates a new scheduled action. - Event Data
AcceptancemodifyEvent
Modifies an existing scheduled action.
- Event Data
Acceptance
deleteEvent
Deletes a scheduled event. - Event ID Acceptance
Table 9 - Interface Scheduler Subsystem
5.5 Storage Subsystem
5.5.1 General
Storage Subsystem handles storage and retrieval of data.
5.5.2 Assumptions
None
5.5.3 Responsibilities
Storage of data Retrieval of data
5.5.4 Subsystem Interface
Method Description Information
Required
Information Returned
storeData
Accepts data to storage. -Data Acceptance
loadData
Retrieves data from storage.
-Data ID -Data
Table 10 - Interface Storage Subsystem
6 Communication Subsystems Descriptions
6.1 Server Communication Subsystem
6.1.1 General
The Server Communication Subsystem handles data flow to and from the Server Layer. It interfaces with the Robot Interface Module, and the Base Station Communication Subsystems.
6.1.2 Assumptions
None
6.1.3 Responsibilities
Establish a connection with the Robot Interface Module Subsystem Establish a connection with Base Station Communication Subsystem Exchange messages with subsystems within the Base Station Layer through the Base Station
Communication Subsystem. Exchange messages with the Mobile Robot and Tops Layers through the Robot Interface
Module Subsystem. Process messages received.
6.1.4 Subsystem Interface
Method
Description Information
Required
Information Returned
SendDa Sends data from the • Data • Status• Size
Table 11 - Interface Server Communication Subsystem
6.2 Base Station Communication Subsystem
6.2.1 General
The Base Station Communication Subsystem handles data flow to and from the Base Station Layer. It interfaces with the Server Communication Subsystem.
6.2.2 Assumptions
None
6.2.3 Responsibilities
Establish a connection with the Server Communication Subsystem Exchange messages with subsystems within the Base Station Layer Process messages received.
6.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
SendDa Sends data from the base • Data • Status• Size Acceptance
Table 12 - Interface Base Station Communication Subsystem
6.3 Robot Interface Module Subsystem
6.3.1 General
The Robot Interface Module Subsystem handles dataflow between the server, robot, and tops. It interfaces with the Server Communication, Robot Communication, and Tops Communication Subsystems
6.3.2 Assumptions
None
6.3.3 Responsibilities
Establish a connection with the Server Communication Subsystem Establish a connection with the Robot Communication Subsystem Establish a connection with the Tops Communication Subsystem Exchange and route messages between the Server, Robot, and Tops Communication
Subsystems
6.3.4 Subsystem Interface
Method
Description Information
Required
Information Returned
sendData
Sends data to the server
Data Acceptance
Table 13 - Interface Robot Interface Module Subsystem
6.4 Robot Communication Subsystem
6.4.1 General
The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem.
6.4.2 Assumptions
None
6.4.3 Responsibilities
Establish a connection with the Robot Interface Module Subsystem Exchange messages with subsystems within the Robot Layer Process messages received
6.4.4 Subsystem Interface
Method
Description Information
Required
Information Returned
sendDa Sends data from the Data Acceptance
Table 14 - Interface Robot Communication Subsystem
6.5 TOP Communication Subsystem
6.5.1 General
The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem.
6.5.2 Assumptions
None
6.5.3 Responsibilities
Establish a connection with the Robot Interface Module Subsystem Exchange messages with subsystems within the Tops Layer Process messages received
6.5.4 Subsystem Interface
Method
Description Information
Required
Information Returned
SendDa Sends data from the Data Acceptance
Table 15 - Interface TOP Communication Subsystem
7 Robot Subsystems Descriptions
7.1 Robot Power Subsystem
7.1.1 General
The Robot Power Subsystem will be responsible for providing power to other subsystems.
7.1.2 Assumptions
None
7.1.3 Responsibilities
Provide power to the Robot Interface Module Subsystem Provide power to the TOPs Layer Send a periodic battery status message to the Bioloid Software System
7.1.4 Subsystem Interface
This subsystem provides electric energy.
7.2 Robot Control Subsystem
7.2.1 General
The Robot Control Subsystem is responsible for controlling the robot movements.
7.2.2 Assumptions
None
7.2.3 Responsibilities
Accept movement commands, and react accordingly
7.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
moveForwa Moves the robot Speed StatusMilliSec
moveRever Moves the robot in Speed StatusMilliSec
moveTurn Turns the robot. Speed StatusMilliSec
moveStop Stops all robot Status
Table 16 - Interface Robot Control Subsystem
8 Base Station Subsystems Descriptions
8.1 Charger Subsystem
8.1.1 General
The Charger Subsystem provides power used to charge other subsystems.
8.1.2 Assumptions
None
8.1.3 Responsibilities
Provide power to recharge other subsystems Notifies user of charging problems
8.1.4 Subsystem Interface
This subsystem does not communicate with any other subsystems.
8.2 Top Loader Subsystem
8.2.1 General
The Top Loader Subsystem loads and stores Tops. It is controlled by the Bioloid Software Subsystem through the Base Station Communication Subsystem.
8.2.2 Assumptions
None
8.2.3 Responsibilities
Store Tops for later use Load Tops onto Robot Subsystem Manages top location Notifies user and server of loading problems
8.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
loadTop Attempts to load TOP onto the Mobile Robot.
ID Acceptance
unloadTop
Attempts to unload TOP from the Mobile Robot and store it.
ID Acceptance
Table 17 - Interface Top Loader Subsystem
9 TOP Subsystems Descriptions
9.1 Camera Subsystem
9.1.1 General
The Camera Sub System controls the sending of a video feed back to the server from the HQ camera and the infrared camera.
9.1.2 Assumptions
None
9.1.3 Responsibilities
Sends video feed to the server
9.1.4 Subsystem Interface
Method Description Informatio Information cameraO Sends power to the • video feedcameraO Cuts off power to the Acceptance
Table 18 - Interface Camera Subsystem
9.2 Thermometer Subsystem
9.2.1 General
The Thermometer Sub System will take readings from a target and send the results to the RIM.
9.2.2 Assumptions
None
9.2.3 Responsibilities
Take temperature readings Move up and down
9.2.4 Subsystem Interface
Method Description Information
Required
Information Returned
takeReading
Turns on the thermometer to take reading
• sec •temperaturemoveUp Moves thermometer up • degrees AcceptancemoveDow Moves thermometer down • degrees Acceptance
Table 19 - Interface Thermometer Subsystem
9.3 Lift Subsystem
9.3.1 General
Lift the camera up to three feet and can rotate a full circle.
9.3.2 Assumptions
None
9.3.3 Responsibilities
Rotate Move vertically
9.3.4 Subsystem Interface
Method Description Information
Required
Information Returned
MoveUp Moves the lift up. Sec AcceptanceMoveDo Moves the lift Sec AcceptanceRotate Rotates the lift. Degrees Acceptance
Table 20 - Interface Lift Subsystem
9.4 Flashlight Subsystem
9.4.1 General
The Flashlight Subsystem turns on a LED light to help the high quality camera video quality.
9.4.2 Assumptions
None
9.4.3 Responsibilities
Turn on/off Move up/down
9.4.4 Subsystem Interface
Method Description Information
Required
Information Returned
TurnOn Turns on the LED AcceptanceTurnOff Turns off the LED AcceptanceMoveUp Moves the LED up Degrees AcceptanceMoveDo Moves the LED Degrees Acceptance
Table 21 - Interface Flashlight Subsystem