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Real-Time Object Transportation System Using LEGO Mindstorms RCX

This project presents a real-time transportation system employing LEGO Mindstorms RCX to efficiently move objects from input bins to an output bin. The system operates with a single delivery vehicle on a circular track, with no object capacity limits. Key challenges include adhering to real-time constraints for periodic and sporadic tasks, optimizing scheduling by considering deadlines and worst-case execution times (WCET). Our algorithm introduces a "lookahead" mechanism to improve delivery strategies based on current locations and calculated slack, enhancing overall efficiency.

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Real-Time Object Transportation System Using LEGO Mindstorms RCX

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  1. Object Transportation System Using LEGO Mindstorms RCXTerm project for CSC714 David Boyuka Vishnu Dasa Harish Babu

  2. Problem Statement • Objective: transport objects from “input bins” to the “output bin”, under various real-time constraints • Single delivery vehicle, circular track, unlimited object capacity • Real-time constraints: • Periodic tasks for input bin checking (deadline = period) • Sporadic task released when object(s) are picked up, with deadline specific to each bin

  3. Real-Time Challenges • “Typical” approach to scheduling is naïve • WCET can be bounded more tightly by incorporating current location and distance to bins • Sporadic tasks for object delivery aren’t “typical” • All objects are delivered at once, no separate WCETs

  4. Our Algorithm Idea • Incorporate “lookahead” by calculating slack remaining after a move • Slack = deadline – (WCET given current location) Example: • Bin check time = 1sec • If check C then B, B’s deadline is missed • But, if check B then C, success • Slack check algorithm finds negative slack for B if we check C then B, so it decides on the correct strategy (B first) Deadline = 9 B 3 sec 3 sec Deadline = 8 A C Train here at t = 0

  5. Progress and Todo List Done: • Physical construction is complete • Vehicle movement, “bin checker” arm, object dumper, location sensor, object pickup sensor • Low-level code and scheduler interface complete • Some prototype scheduling algorithms coded Todo: • Finalize scheduling algorithms we want to compare • Use various test scenarios to evaluate/showcase algorithms

  6. Problems Faced • Light sensor was not sensitive enough for an object pickup detector. We switched to using a rotation-sensor-based mechanism. • Much difficulty calibrating touch sensor to read station markers on track. Also, our first touch sensor turned out to be broken… • Train derailed itself until we found the correct speed • Algorithm design tricky because some assumptions are different than in the RT systems we have studied

  7. Demo

  8. Thank you

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