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Developing the Mitre Meteor Robot Control Software: Simulate as You Operate

This presentation by Darrell L. Sims, Richard M. Weatherly, Frederick S. Kuhl, Robert H. Bolling, and Robert J. Grabowski outlines the development of the Mitre Meteor Robot Control Software. It details the approach, goals, and phases of software employment, highlighting the Tortuga Framework, a key component for simulating robot operations. The presentation explores the challenges posed by the DARPA initiative and emphasizes the creation of a cohesive codebase to support real-time control and analytical functions. Key features and methodologies for operational and analytical employment are discussed, showcasing the software's utility in diverse applications.

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Developing the Mitre Meteor Robot Control Software: Simulate as You Operate

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Presentation Transcript

  1. The Mitre Meteor Robot Control Software “Simulate As You Operate” Presented by Darrell L Sims Richard M. Weatherly Frederick S. Kuhl Robert H. Bolling Robert J. Grabowski

  2. Overview • Background Information • Approach • Goals • Software Employment Phases • The Tortuga Framework • Conclusion

  3. Background Information • The Defense Advancement Research Projects Agency (DARPA) challenge • Mitre a non profit engineering company • Construct and Implement code within 11 months • Develop and created a software known as Meteor

  4. Approach • Employ commercial solutions • Tortuga Framework • Java thread agent • Apply main focus to certain areas and fan out the rest • Incremental “model-simulate test” • Model by simulating and replaying • Test in real situation • Craft the control software and execution environment • Receiving maximum utility from software developement

  5. Software Employment Phases • Primary Goal: Create a single body of code that employed operational, developmental and analytical phases • The development team must achieve three goals • Build real time code • Support robot control algorithms • Record operational data from the field

  6. Operational Employment • Produce vehicle command control and populate agent process sensor inputs • Look outs • -I/0 with physical sensors • Watch officers • Receive Data • Executives • Assess the system state • Wait time to pass

  7. Operational Employment Diagram • Introduction • Goals • Problem • Possible Solutions

  8. Development Employment • Laser Sensor Model • Evaluates changing vehicle location and orientation values to produce geometric values • Determines whether static collection of obstacles • GPS models • Compute velocity, orientation, and location • Wheel Rotation Model • Analysis of acceleration values to convey displacement

  9. Development Employment

  10. Analytical Employment • Record Messages using the “Replayer” • Managed sensors removed from the software • Using controls found in Tortuga, which set the ratio from simuation time to real time • Tortuga Framework • A product of Mitre sponsored simulation software • Written in Java and incorporates third party open source software • Used as simulation software for air traffic control and military analysis

  11. Analytical Employment Diagram

  12. Features of Tortuga • Action methods and triggers • Action methods • Issued upon a simulation entity • Represent the occurrences of exogenous events or interruptions • Ex: arrival of messages • Triggers • Boolean predicate • Wait in system until a certain condition arises • Ex: Entities being with range of a sensor

  13. Conclusion • The simulation structure “process-interaction” method • Future Event List for movement upon arrival • Achieve the employment transparency by a single body of code • Messages communicated through Java Threads • Lost the race

  14. Questions?

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