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1. AUX1 K7 do Gn wa to Ebron Z N 026 8 dP 1N4004 R15 G6B 2214C 1K D29 3 ZA 14 2 Ki Q7 NY pa 1 2N3904 nen BZX79 C2v4 AL Me GIE Figure 5 14 Schematic for each of the channels ASLab org Higgs Manual R 2010 008v 0 1 Draft 65 of 97 021 MEEI pn d SWITCH 12 Avec 12V 1240 ae JF1 ONTROL 24v 10 9 CONTROL 24v Geak CONTROL24V ge CONTROL daia CONTROL EO S CONTROL 12 NIRE ao CONTROL 2 4 3 CONTROL 12 2040 OND CONTROL 120 1 voc RELAY 43 24 CONN FLEX 10 da SW IN 1241 i ENABLE SW DUT CONTROL 242 CONTROL Auki vee ne GND RELAY SW IN 3 ENABLE SWW OUT CONTA TAVI CONTROL AUXI x2 GND RELAY tava MEE IN B ENABLE SW OUT ENEKO 1707 CONTROL Aux BK AUG GND RELAY 12w3 7 ENABLE SW OUT DNTROL 24v1 CONTROL AM GND RELAY 242 ZE vec IN ENABLE SW OUT CONTROL 257 CONTROL AUK AL VEC ENABLE SWL OUT CONTROL TAT CONTROL AUXI DO GND RELAY tava GND Ri RELAY R a Di dn n z ap VEC SWi IN E ENABLE SW OUT CONTROL 124 CONTROL a GND RELAY 1245 LED d El Es E VEC IN ENABLE SW OUT CONTROL V CONTROL AUX REAY Figure 5 15 Schematic for the Power Board 5 5 3 Power Board Bugs During the design phase of the board there were some errors that passed the internal tests A
2. View m Ej viewpointName String SIC usedToCover E Purpose String Eg viewpointConcern String viewpoint Eq viewpointStakeholder String Eg language String consistsOf g method String concern viewpoint viewpoint 1 HA engineeringModel RCTPerformanceModel selects systemstakeholder Li RCTEngineer Figure 6 5 RCT PerformanceViewpoint Model The first Task during the ASys Requirement Phase is to analyse the Sys tem UseCases by instantiating the Requirement Package ontological el ements in the SystemEngineering Subontology This Task consists of the Subtasks of UseCaseModelling and UseCaseDetailing as defined in the ASys Engineering Subontology An UseCase in OASys has been defined as a mean to capture a require ment of a system as defined in the Perspective Package To define the UseCase the Subject as system under consideration and the different UseCaseActors as objects that interact with the system are also identified among other aspects As a result a SystemUseCaseModel is obtained de tailing the previous identified elements The UML classes in the model are instantiation of the original OASys concepts this fact being speci fied by the UML roles names in the shown associations When the Subject under study is the Robot Control Testbed an RCT UseCaseModel shows the RCT s requirements by means of use cases A sys
3. 4 Get the RTAI patch form http www rtai org As the time of this writing the latest version was 3 8 1 Apply the patch cd pathtolinuxkernel2 6 32 11 patch p1 lt pathtortai rtai 3 8 1 base arch x86 patches hal linux 2 6 32 11 x86 2 6 0 3 patch Be sure to use the patch for the exact kernel vanilla version in this case 2 6 32 11 or errors and warnings will arise The p1 option removes the base directory form the path of the files inside the patch Configure the kernel First copy the ubuntu kernel config cp lib modules uname r build config path to kernel 2 6 32 11 andrun make menuconfiginside the root directory of the downloaded kernel sources Look for the following options and change them to the appropriate values local version append to rtai 3 8 1 1 number of CPUS to 1 ACPI to no all power management features to no mod ule versioning support to yes interrupt pipeline to yes The RTAI patch needs ACPI not to be supported by the kernel As a consequence no power management features will work and the kernel will not be able to run the HALT instruction on shutdown Compile with make This can last many hours Generate the debian package fakeroot make kpkg initrd kernel image kernel headers Go to the upper directory where the packages are created and install them with dpkg i dev Once the kernel is installed reboot and start with the new kernel to check it con bo
4. 2010 aslab Title Author Reference Release Date Address Higgs Manual A Platform for Autonomy Research Carlos Hern ndez Adolfo Hernando Ricardo Sanz and Francisco Arjonilla R 2010 008 0 1 Draft December 5 2011 Autonomous Systems Laboratory UPM ETS Ingenieros Industriales Jos Gutierrez Abascal 2 28006 Maarid SPAIN Higgs Manual ASLab R 2010 008 v 0 1 Draft of December 5 2011 Abstract The target system selected for control is a Pioneer 2 ATX robot Keywords Higgs cognitive architecture perception action integrated control cognition emotion autonomy autonomous systems Acknowledgements We acknowledge the support of the European Commission through grant IST 027819 IP ICEA of the IST 2004 2 4 8 Cognitive Systems domain and of the Spanish Ministry of Science and Innovation through grant TIN2008 02250 E 1 Revisions Release Date Content Author 0 1 10 05 04 Initial release Sanz 0 2 28 09 11 User and developer manuals Arjonilla ASLab org Higgs Manual R 2010 008v 0 1 Draft 5 of 97 Table of Contents 1 Introduction 10 LI Document Purpose a EEE por doce a 10 1 2 Content augu Sr gd rre gen a eu vh ee KK X RUE ZE d 10 13 Intended Audience 10 1 4 Mandatory References cia sace w erc X GRON E Ao 11 1 5 Structure of the report ereduga Bee Ree gg dn big we 11 1 6 Format soria ee b URS qo Red eee 12
5. 5 4 3 Compass The compass is a solid state magnetism sensor placed next to the GPS antenna on the aluminum bridge It was bought at www superrobotica com product reference CMPS03 5320160 The connections are as follows from bottom to top as shown in figure 5 6 1 VDD To Arduino supply 2 SCL To 5V with 47 resistor 3 SDA To 5V with 47 resistor 4 PWM To Arduino digital input 5 NC 6 Calibrate To button in compass connector 7 50Hz 60Hz To GND 8 NC 9 GND To Arduino supply All connections including the calibration button are done inside the IDT con nector and protected by thermoadhesive The button takes the calibration input to ground when pressed ASLab org Higgs Manual R 2010 008v 0 1 Draft 57 of 97 a Pin 9 OV Masa XXI Pin 8 No conectado Pin 7 50 60Hz Pin 6 Calibracion a Pin 5 No conectar HHIH PRAY J AUTE AN E I gr EZ Pin 2 SCL be Be Pin 1 5V E A dd E Heg RE be La Figure 5 6 Connection diagram for compass board Calibration instructions As noted in the manual of the compass to calibrate it you have to press the button with the board heading perfectly well once in each direction North West South and East no order required It is already calibrated so there is no need to do it again The compass gives an output pulse of 1ms to 37 ms VCC plus a fixed 65ms GND 1ms corresponds to 0 and 37ms to 359 The aluminum bridge does n
6. HRCT system RCTFunction 0 1 viewpoint 0 1 RCTFunctionalViewpoint usedToCover l Eg viewpointName String Eg purpose String 0 1 Eg viewpointConcern String Eg viewpointStakeholder String viewpoint Ej language String conformsTo Ej method String concern RCTFunctionalView viewpoint View view consistsOf 1 engineeringModel RCTFunctionalModel Figure 6 4 RCT FunctionalViewpoint Model During the RCT development it will be necessary to address the Performance Viewpoint to evaluate the performance requirements and benchmarking of the RCT once it is finally implemented The PerformanceViewpoint addresses the performance aspects of the RCT The Perspective and the ASysPerspec tive Package ontological elements were used to build up a PerformanceView pointModel for the RCT Fig 6 5 6 2 RCT ASys Requirement Phase The purpose of this phase is to identify and elicit stakeholders requirements for the RCT considering the RequirementViewpoint The requirements are to be specified during this phase by using traditional requirements engineering techniques e System UseCase Task 78 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org EJRCT 0 1 system H RCTPerformanceView viewpoint RCTPerformance 0 1 f T H RCTPerformanceViewpoint conforme o
7. Serial number Purchase date Physical Characteristics Dimensions 155x156x265mm Weight 4 5kg Physical links The laser support is screwed to the front part of Higgs top Includes a mechanism for tilting the laser by means of a servo The RCT Wrist is screwed to the top of the laser support Informational links RS 232 422 connected to vaio through USB RS 232 converter Power 24VDC 40W Scanning angle 180 Restyp meas accuracy 10mm 35mm GES Accesories Metacrilate support 445 tilt with a Futaba servo Tech doc 3 25 Camera RCT Identifier RCT Camera RCT Name Camara Description Stereo camera for Higgs vision system Functionality role Camera Model Videre STH MDCS2 C State available already controlled independently but not integrated Serial number Purchase date Physical Characteristics Dimensions 44x132x73 mm Weight 330g Physical links Screwed to RCT Wrist Informational links In amp Out ieee 1394 firewire Power 1W 12 VDC Features Accesories RCT Wrist Tech doc 22 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 3 2 6 Wrist RCT Identifier RCT Wrist RCT Name Wrist Description 2 DOF high precision and torque actuator for orienta tion pan amp tilt of the RCT camera Functionality role Wrist Model SCHUNK PW 070 State Full
8. Figure 6 6 RCT Navigation UseCaseModel LI RCT 0 1 2 H Survival subject appliedTo useCase EA include include E 0 1 H Recharge LI SubsystemFailure Figure 6 7 RCT Survival UseCaseModel It might be interesting to detail a particular UseCase by paying attention to the Subsystems in the System to detail further Requirements Subsys tems identified in the RCT are the BasePlatform the OnboardSystem and the SupportingSystem Focusing for example on the Navigation UseCase previously defined it is possible to identify additional Require ments for the Subsystems in the form of a RCT Subsystem UseCaseModel Fig 6 8 80 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org BasePlatform RCT OnboardSystem 0 1 0 1 subject subject 1 appliedTo appliedTo appliedTo 0 1 subsystemUseCase susbystemUseCase subsystemUseCase Movement appliedTo Manage Communications Obtain SensoryInput 0 1 Ni include pu include y include E useCase Navigation include Manage SensoryInput participatesIn 0 1 0 1 useCaseActor subsystemUseCase include Operator appliedTo 0 1 subject Remote SystemControl SubsystemUseCase 0 1 r appliedTo subject SupportingSystem 0 1 Figur
9. element API H H SoftwareElement 1 rer 1 H OnboardComputer H ASLabModule 1 H Radio Ejtaser ers subsystem E camera gt E supportingsystem wrist H Laptop H WirelessNetwork H RemoteControl H server H UserTerminal Figure 6 14 RCT Structure Model aspects The first one refers to the communication connections be tween parts such as WiFi Ethernet etc The latter the physical connections among parts in a traditional way Hence two differ ent topology models have been obtained for the RCT system the RCT Informational Topology Model Fig 6 15 and the RCT Phys ical Topology Model Fig 6 16 Bl OnboardComputer 422 Ga H Laser 1 1 EThernet Hl Camera 1 E UserTerminal 1 1 IEEE 1394 1 1 H Laptop GPS WiFi 1 E 1 E Server Figure 6 15 RCT Topology Model informational connections ASLab org Higgs Manual R 2010 008v 0 1 Draft 85 of 97 BasePlatform Bumper isConnectedTo 1 1 2 P isConnectedTo 1 i 1 isConnectedTo 1 1 OnboardComputer H microcontroller 1 isconnectedTo isConnectedTo isConnectedTo isConnectedTo 1 H Encoder E Wrist 1 1 Camera Mot H Sonar isConnectedTo jotor Figure 6 16 RCT Topology Model physical connections Each one of the subsystems and elements identified in the Struc tureModel can be further detailed during a design phase to repre sent their chara
10. Chapter3 Describes the robot control software Chapter 4 contains an analysis of the mission In the different chapters and section of this documents several systems or devices are described so as to make it perfectly clear the description of each one uses a tabular structure with the following formats This is mandatory text this depends of each device this is a comment 17 Acknowledgements This work has been partially supported by a European Commission grant to the project Integrating Cognition Emotion and Autonomy ICEA IST 027819 and by the Conscious Cognitive Control grant of the Ministry for Science and Innovation 12 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Chapter 2 The Higgs Robot Control Testbed The Robot Control Testbed RCT is a collection of robot based applications under development in the research group ASLab The robots include com menrcial research platforms simulated robotos and custom mobile robot im plementations Higgs is a custom robot that is part of thr RTC developments This is a mo bile robotic system which consists of a base platform and different intercon nected subsystems to cover a wide range of capabilities The research aim is to provide the mobile robot with the necessary cognitive capabilities and an intelligent control system as to perform complex tasks This manual includes information concerning its software and hardware de scription specification
11. There are a few issues for remembering when installing this module on a fresh linux installation The serial library RXTXcomm is included in the sub version directory svntssh sagan home svnroot Higgs code devices arduino lib The file librxtxSerial so should be copied to usr SJAVA_BASE jre 1ib i386 and the three jar files core jar RXTXcomm jar and serial jar to usr JAVA BASE jre lib ext Then make sure the user running the servant is in the groups uucp dialout and lock and that the package uucp is installed Ensure the cross compilation environment for avr is in stalled In Debian Ubuntu these are the packages gcc avr avr libc and binutils avr Now check for the embedded C source in the subversion directory svntssh sagan home svnroot Higgs code N devices arduino arduinoN embedded A copy of the Integrated Development Environment for the arduino is in svn ssh sagan home svnroot Higgs code devices N arduino arduino IDE or you can get the latest version from the web at http arduino cc en Main Software Start the IDE with arduino and open the C source file arduino embedded pde For the IDE to compile correctly the name of the source file without the pde extension must have the same name as the directory it is in Select the correct Board and Serial Port under the Tools menu then Compile Verify and Upload 5 5 Power board The Power Board is a custom printed circuit board designed specifically for the
12. Without the jumper RS 232 Note that the RS 422 has not been successfully tested maybe because the jumper should be inside the laser connection black box instead of the serial cable endpoint 5 7 1 Laser servant The laser servant has been developed on top of the driver given by the peo ple working in the mobile robotics lab It has been modified to be able to resynchronize after a transmission error or a reboot of either the sensor or the servant The original source code can be found in SVN code devices laser libreria laser paloma zip The documentation for the Sick Laser Sensor both hardwre and protocol def inition can be found under the doc directory of the laser sources Inside the src directory you will find the modified sources for the laser driver the ser vant implementation and a test client like in other modules 70 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 5 8 Differential GPS The GPS module is based on two OEMV 2 RT2 receptors with capacity for Satellite Based Augmentation System SBAS and Differential GPS DGPS Both receptors communicate through a radio based modem capable of trans mitting in half duplex mode through relatively long distances at 9600bps The base radio has a transmitting power of 2W and the rover radio 0 5W however the latter is only used for receiving data Both radios must be set to work in the same channel use the button with the channel label to change it The ele
13. a custom made extension board The connector layout is shown in Figure 5 5 and the connectors correspondence to the devices in Table 5 1 The ribbon cable connector is between the digital inputs The position is marked on the board and pin 0 ground is next to Pin22 5 4 1 Tilt mechanism for the laser The laser sensor is housed inside a methacrylate structure with a joint that en ables pitch movements on the laser They are actuated by a servo placed just behind the laser and by two end of stroke switches that limit the movements to safe values To the left side of the laser coaxial with the axis of rotation there is a potentiometer that closes the loop for precise control of the rotation angle The servo switches and potentiometers are all controlled by the I O board and has a PID programmed within its firmware The details can be found in the PFC from Marcos Salom Currently the PID feature has been disabled and the servo operates in an open loop fashion using the end of stroke switches as a reference for rotation limits during initialization The factors that motivated this decision are ASLab org Higgs Manual R 2010 008v 0 1 Draft 55 of 97 Analog inputs EGA LH 69 EO ERE d Em cu rn a co BB Digital Digital outputs inputs Figure 5 5 Connection diagram for compass board Number Device Pin0 Not used Pin1 Not used Pin2 Not used Pin3 Instrumentation current Pin4 In
14. e MODULES Removed p12303 and ftdi sio kernel modules They do not load with the same order on each bootup so they are manually loaded by the inits scripts as described in 5 2 3 The binaries have been moved from the original location to etc higgs modules 5 3 Common libraries and module considerations The RCT testbed may be controlled remotely by means of procedure calls to CORBA objects All of Higgs devices including the base platform have a This is not valid in Ubuntu RTAI as the ACPI subsystem is not functional It is docu mented here in case other OS is used This is not available when running the RTAI kernel 52 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Top and bottom rows are hardware related components not relocatable Green Fully integrated and tested components Blue Client components for testing and operating the others Gray Integration pending Red Planned components Figure 5 4 General view of the CORBA modules CORBA interface definition that must be used in order to remotely or auto matically operate the robot In this section these interfaces are described in detail There are additional CORBA objects running in the on board computers that whilst not having direct control on Higgs physical devices they do use the devices and provide useful well known and proved services The Java language requires that all CORBA interfaces are defined inside a
15. module so all Higgs interfaces are defined inside the module niggs 5 3 1 ASLab servant utility functions for CORBA The same file code 1ib CORBA utils h for easy creation of clients has also macros for servants A typical servant executable would be something like include implementation h include CosNamingC h include lib CORBA utils h int main int argc char argv CORBA BEGIN SERVER argc argv ASLab org Higgs Manual R 2010 008v 0 1 Draft 53 of 97 implementation t impl higgs implementation t var implvar impl this CORBA REGISTER REFERENCE implvar IMPL CORBA END SERVER return 0 1 It is possible to use also CORBA GET REFERENCE in case other objects are needed 5 3 2 Module installation and configuration files The CORBA macros for the servants make use of the file etc higgs listen_endpoint ip to configure the ip address where they should listen to additionally to nameservice ip Typically will contain the IPv4 address of the computer it is running in in this case 138 100 76 246 Other config files are the device links at etc higgs devices each module has this directory and the device file it uses hard coded Finally they need an upstart config file The upstart config file for the laser follows as example description Upstart config file for the arduino servant author Francisco J Arjonilla Garcia st
16. Pioneer2AT There is a red LED inside the Pioneer when it is powered but can only be verified indirectly through reflections in the methacrylate structure that covers the top hole of the base Alternatively There is a dedicated red LED for this purpose in the Control Panel with the label PWR Laptop The VAIO laptop lights a green LED when it is on Laser When it is powered on a green LED or two orange and red LEDs will be lighted in the front of the laser device Green means powered and prepared orange and red means powered and initializing Arduino When it is powered a little orange LED can be find behind the USB connector A fast sanity check is to power the arduino and the servo If everything is OK the Laser will rotate to look upwards in a small angle Wrist There is no way to verify this device externally However it is quite robust and will normally work as supposed to If everything is running ok it will make a little calibration movement on startup Camera Depends on the camera used The black stereoscopic one has a red LED that blinks when the driver is reading it and the Minoru3D lights up in white when the driver is reading it GPS There are two LEDs on the side One of them indicates that power is OK and the other lights when enough satellites for position calculation are being tracked Power Board There is a green LED for the general switch and one for each device 4 4 Operating the robot manually 4 4 1 Booting th
17. element name laser_trans type robotLaser_trans gt xs simpleType name robotLaser_trans gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read write lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt ID sonars trans ID 94 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org lt propertyDataType gt lt xs element name sonars trans type rob xs simpleType name robotSonars_trans gt xs restriction base xs int gt xs simpleType lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read write lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt otSonars_trans lt property gt operational model section gt property lt ID gt operationalModel lt ID gt lt propertyDataType gt lt xs element name operationalModel type robotOperationalModel gt lt xs complexType name robotOperationalModel gt xs sequence xs element name modelElement type robotModelElement lt xs sequence gt lt xs complexType gt maxOccurs unbou lt xs complexType name rob
18. every second This is the indication that the differential readings are being transmitted In the rover part attach the three terminal cable to the blue radio receiver the battery pack and the COM2 port in the rover GPS electronics box Press the power button in the radio receiver and proceed as in the rover section 4 5 6 Laser Procedure is similar to the I O board one Go to HIGGS ROOT branches CORBA code devices laser src and cmake make laser client will be generated Power the laser in the ASLab org Higgs Manual R 2010 008v 0 1 Draft 43 of 97 robot wait for it to go green and some more seconds for the laser servant to start up and run the client A list with the distances of the latest reading will be printed to the console 4 5 7 Wrist Again the procedure is similar only in this case the device is not read but told the position to move to Turn on the switch for the wrist and wait for a little calibration movement that indicates that it is ready It will move to the reset position if not there before the calibration Go to S HIGGS ROOT branches CORBA code devices wrist src Two clients will appear The first of them wrist client will move the two axis with incremental span around ten times then stop The second one wrist client mouse grab will let you control the two axis with the mouse Once running take the pointer to the center of the window to move the wrist to the starting position the
19. fined nor declared it is done inside the macro Remember that refer ences are used as pointers 3 IMPL String with the name that the object is registered in the Name Server 4 6 2 CMake It is encouraged to use CMake as the tool for managing the compilation of the proyects There is a sample CMakeLists txt in Higgs branches CORBA code 1lib prepared for linking the CORBA libraries and generating the necessary de pendencies for compiling Substitute module with the name of your mod ule The file IDL command cmake defines a macro for generating and man aging the sources of the IDL interfaces Include all interfaces that you need when calling the macro MacroGenerateIDL Use the command SET IDL DIR path to idl pointing to higgs idl definition files to tell the macro where to find them ASLab org Higgs Manual R 2010 008v 0 1 Draft 45 of 97 Chapter 5 Developer Manual The RCT testbed has been designed and developed with the tools and li braries that are currently as the time of this writing the state of the art These tools are usually replaced by easier and more powerful ones with time and Higgs can benefit from these When such a change is performed normally it will invalidate some of the documentation herein Remember to write down the procedures and descriptions to match the new devices and or software When replacing a broken part this chapter can be used as a guide for in stalling the new compo
20. robot can be reached unscrewing the littlest black bolts on the black plates Additionally you can also remove the sonar sensors for reaching deeper inside the robot There are four little vertical bolts inside the structure that holds each sonar array Remove the ribbon cable prior to disassembling it In the back part of the robot reside the electronics in two layers To access ASLab org Higgs Manual R 2010 008v 0 1 Draft 47 of 97 the bottom boards the top ones must be removed unscrewing the four small bolts situated behind the back wheels at the side of the robot and removing the sonar array so it can be slipped out LEAD BATTERIES ROBOT BASE SUPPLY POWER BOARD SUPPLY SHUNT RESISTOR FUSE Figure 5 2 Robot base front part disassembled 5 1 2 Firmware It is possible to update the firmware of the Mobile base uploading it to the nonvolatile memory of the Hitachi H8 microcontroller Check the Pioneer 2 H8 Series Operations Manual It is also possible to update the tick count of the odometry 5 2 On board computer The onboard computer is the sony VAIO laptop running tUbuntu linux 10 04 with a RTAI kernel The older onboard computer is a GENE board that was placed inside the mobile base with its own dc dc regulator running Win dRiver See figure 5 3 48 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Figure 5 3 The old onboard computer GENE 5 2 1 Hubs and converters The onboard computer has
21. to arduino board Input 12V connected to Inst batteries 12V 24V to connect a 12V to 24V converter Informational links Input 24V connected to 12V to 24V converter 6x12V Power for 12V devices 3x24V Power for Wrist Laser and 1 free slot Power Jack Battery charger Power negligible 12V to 24V Tech doc 24 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 3 2 Radio RCT Identifier RCT radio RCT Name radio Description a radio system for DGPS GPS difference with a known base more precisssion Functionality role GPSd radio Model Pacific Crest PDLRVR State not installed Serial number Purchase date 2007 Physical Characteristics Dimensions 21 0 cm L x 6 1 cm diameter Physical links Informational links Power 0 3W 9 16 VDC from its own external battery Features Weight 0 34 kg Accessories Antenna Battery 3 3 Supporting Systems 3 3 1 PSP Remote Control RCT Identifier RCT PSP RCT Name Psp Description a portable device with screen and controls to control re motely the RCT platform Functionality role Remote controller Model Sony PSP 1004 State available not integrated Serial number Purchase date Physical Characteristics Dimensions 170x23x74 mm Weight 280 gr Physical links none it s portable Informational links In amp Out w
22. 1 7 Acknowledgements cda ks EUR Ron koe RO OES 12 The Higgs Robot Control Testbed 13 21 Higgs Structural Description esse wes n 13 2 11 Base Platform 13 2 1 2 Onboard Systems bea xe LE e EE amp XX xA 15 21 3 Supporting Systems v3 3 345 x des RA 17 22 Robot Functional Description 17 Physical System Specification 18 3 1 Base Platform Pioneer 2 AT8 2 18 3 2 Onboard Systems ose 26 eb ee Ree a fe Era e we eS 18 3 2 1 Gene 6330 222222 18 Sor Laptop gidek xe wow e Be dos ned 20 3 2 3 Arduino 2222222 eee eee 21 324 Master uds ias bk guek dr b EEE EEE A 21 325 Cam es EE E bak eup d Foe ee EEE ala d 22 326 WEISE aut wait ke konin gur Hd bk Get wea 23 327 ada Ga gera eee s rrr 24 3 2 8 Power Board 24 6 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 3 3 4 1 4 2 4 3 4 4 4 5 4 6 5 1 23 29 Radios arue br ter dig ger edge grad Aa a Supporting Systems auos ezte Rex dug zb EEE e d e e d 33 1 PSP Remote Control 2 9 2 Remote Servers vx Err Roe Erta ee EEE Gio 3 3 3 Wireless Network es kx ibo ee dec GEHE bira User Manual Functionality description 2 lt vog cy ea e e a Pee es 4 1 1 Visual identification of devices 41 2 Dataconnection diagram Setting up the system ricardo E aa Se ee Pan 4 2 1 Powering the robot SEK Pi
23. 2 analog In amp Out 3 RS 232 ports 8 bits bus Power 3 batteries 12VDC 7A h 252W h Microcontroller Hitachi H8S Actuators Skid steering 4 pittman motors GM9236E204 Features Sensors Sonar 2 arrays front amp rear each of 8 sen sors 20 Encoders 1 per wheel 34 000 conts rev Bumpers 5 front and 5 rear Tech doc ASLab org Higgs Manual R 2010 008v 0 1 Draft 19 of 97 RCT Identifier RCT Gene RCT Name placa Gene Description This is the onboard computer Functionality role On board computer Model GENE 6330 State Obsolete and retired Serial number Purchase date Physical Characteristics Dimensions 146x101 6x26mm mm Weight 0 4 kg Physical links attached inside Higgs Informational links 1 ethernet RJ 45 not used 1 configurable port RS 232 422 485 not used 1 port RS 232 need to puta conector not used Wifi purveyed by Compact PCMCIA main external interface Power typical 0 7W Max 6 4W 5V and 12V AT from higgs batteries Microprocessor Transmeta Crusoe TM5400 600MHz Featuren Memory 64MB SDRAM 256MB SDRAM Flash Memory CompactFlash I type 4GB Wifi purveyed by a Compaq WL110 PCMCIA antenna Tech doc 3 2 2 Laptop 20 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org RCT Identifier RCT laptop RCT Name vaio Description a lightweith high functional laptop
24. 2010 008 v 0 1 Draft Higgs Manual ASLab org H mainClass command H Command 1 i do update data instantiate arduinolmpl H arduinoProcessing arduinolmpl FA send data CORBA method 1 1 H orden 5 add to list Figure 5 9 CORBA interface and classes used in the JAVA implementation H arduinolmpl arduinolmpl H command Command LI arduinoProcessing arduinoProcessin 1 create H orden order 2 add orden 3 add orden 4 read order 5 read order 6 delete Figure 5 10 Interaction diagram for the Arduino CORBA module ASLab org Higgs Manual R 2010 008v 0 1 Draft 61 of 97 remote client E arduinolmpl arduinolmpl El interfaz arduinoProcessing MCU 1 CORBA method 1 1 add to list 2 CORBA method H orden orden 3 get_order 5 remove from list 6 send order Figure 5 11 Sequence diagram for sending data to the i o board remote client g arduinolmpl arduinolmpl g orden Command El interfaz arduinoProcessing MCU 1 send data 1 1 update data 1 2 update data 2 CORBA get method 2 1 get 2 2 get 3 CORBA data Figure 5 12 Sequence diagram for receiving data from the i o board 62 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Modifying and uploading the embedded C code The embedded program inside the Arduino has been developed using the official IDE based on the processing IDE and the libraries associated to it
25. 6 1 RCT ASys Views Phase The purpose of this Phase is to identify the different views of interest for the RCT considering the Perspective Package elements specialised through the ASysPerspective Package concepts For example the RequirementViewpoint especilises the concept of Viewpoint to address the analysis of the RCT from a ASysRequirement Concern to establish the different requirements to be defined in the system Considering this view point a RCTRequirementViewpointModel can be instantiated Fig 6 1 The different concepts relationships and attributes where chosen from the Per spective and the ASysPerspective Package The original concepts have been ontologically instantiated into RCT related ones For example the concept RCTRequirement is an ASysRequirement concern which in turn is aConcern from the Perspective Package In a similar way RCTPerformanceViewpoint is a Viewpoint as defined in the Perspective Package The StructuralViewpoint pays attention to the au tonomous system structure as considering the ASysStructure concern A RCTStructuralViewpointModel can be obtained Fig 6 1 by instantiating the different concepts relation ships and attributes in the Perspective and the ASysPerspective Packages In this model the RCTStructuralView is a View that will consist of a RCTStruc turalModel which is the EngineeringModel to be obtained as output of the StructuralAnalysis task 76 of 97 R 2010 008 v 0 1 Draft Higgs
26. 76 244 corea disam etsii upm es corea 138 100 76 243 mingus disam etsii upm es mingus 138 100 76 217 verne disam etsii upm es verne 138 100 76 241 gibson disam etsii upm es gibson 138 100 76 204 pohl disam etsii upm es pohl 138 100 76 15 ende disam etsii upm es ende 138 100 76 196 luna disam etsii upm es luna 138 100 76 196 arturo desktop disam etsii upm es arturo desktop 138 100 76 247 higgs disam etsii upm es higgs 138 100 76 246 higgs2 disam etsii upm es higgs2 Now your computer knows how to translate the hostnames of the laboratory to IP s Alternatively if in a rush substitute higgs2 with its IP as in your pc ssh local_account 138 100 76 246 The machine with name higgs corresponds to the old on board computer which was embedded inside the robot base Once logged in to higgs2 applications can be run as in a standard linux distri bution Linux RTAI runs a normal kernel with standard functionality ontop of the realtime features For using realtime the programs must be loaded directly into the kernel as modules All other programs run in soft real time On bootup the onboard computer will connect automatically to the wireless accesspoint aslab wireless This accesspoint is in the same network as the other computers The connection is configured using the ESSID of the wi fi hotspot and the MAC address too 4 5 Testing the modules The CORBA servants a
27. Functionality role On board computer Model Sony Vaio TX2HP State Fully operative Serial number Purchase date Physical Characteristics an Physical links The Vaio is attached to the back part of Higgs top Informational links In amp Out 2 USB 2 0 wifi IEEE 802 11b g 1 ethernet Bluetooth 2 0 Power from its internal battery 7 5 hour Processor Intel Pentium M 1 1GHz Memory 510 MB DDR2 SDRAM Testien OS Windows XP and Fedora Hard drive 80 GB 4200 rpm Display 11 1 LCD DVD RW Tech doc 3 2 3 Arduino RCT Identifier RCT arduino RCT Name arduino Description a simple board to conect some simple devices Functionality role I O board Model State Fully integrated Serial number Purchase date 2007 Physical Characteristics Dimensions 175x55x50 Physical links Attached to the left side of the laser support Informational links USD conectes Ap top 3 wire connected to various sensors Power 6 12 VDC Sensors 2 accelerometers 1 compass 2 current Features and voltage sensors 1 servo 1 poten tiometer 2 switches Tech doc 3 2 4 Laser ASLab org Higgs Manual R 2010 008v 0 1 Draft 21 of 97 RCT Identifier RCT Laser RCT Name Laser Description laser scanner for mobile robotics applications SLAM navigation etc Functionality role Scan device Model Sick LMS 200 State Integrated
28. Manual ASLab org RCT 0 1 system RCTRequirementView n conformsTo La viewpoint view view RCTRequirementviewpoint 2 Ej viewpointName String Eg purpose String 6 1 Eq viewpointConcern String E Ez viewpointStakeholder String usedToCover vi i d 3 concern viewpoint Se language String 1 engineeringModel Ej method String 9 1 RCTUseCaseModel concern viewpoint consistsOf RCTRequirement a viewpoint identifies selects 1 systemstakeholder systemstakeholder RCTDeveloper Figure 6 1 RCT RequirementViewpoint Model RCT 0 1 system RCTStructuralView viewpoint RCTStructuralViewpoint 0 1 view view Eg viewpointName String de Eg purpose String viewpoint Eg viewpointConcern String Eg viewpointStakeholder String Eg language String E method String conformsTo E 0 1 RCTStructure usedToCover i 1 concern viewpoint 0 1 concern 1 consistsOf viewpoint selects identifies 1 systemstakeholder Ea engineeringModel systemstakeholder RCTBuilder RCTStructuralModel Figure 6 2 RCT StructuralViewpoint Model Additionally the Behavioural Viewpoint describes the autonomous sy
29. Sys Requirement Phase 63 RCT ASys Analysis Phase 7 Mission Specification 8 Higgs Webots Model 9 Model based Synthesis 10 Higgs Self Awareness A CORBA Interface Definitions B XML Self model ASLab org Higgs Manual R 2010 008v 0 1 Draft 9 of 97 87 88 89 90 91 92 Chapter 1 Introduction 11 Document Purpose The ASys search for universal cognitive architectures generalises insights gained in the study of animal brains providing a model of cognition that effectively and homogeneously integrates autonomic emotional and cogni itive aspects This document describes the Higgs robot part of the ASys Robot Control Testbed RCT that has been selected as the target demonstration of the higher level cognitive dimensions into a physical system The SOUL cognitive ar chitecture intends the exploitation of croscutting design patterns to realise custom architectures targetted to specific uses While SOUL leverages de tailed knowledge about mammal brains as of integration of cognitive emo tional and autonomic aspects its main objective is to transcend the concrete brain implementations improving engineering capability for the construction of technical systems This implementation shall serve as vehicle for evaluating both the architec ture and the componental technologies generalising the components extracted from biological models e g rat brain parts like the amygdala the basal gan glia o
30. The wrist is a two axis robotics kit module with pan and tilt movements manufactured by Schunk 8 It was originally bought for use as the tilt mech anism for the laser but as the center of gravity of the laser does not match the center of rotation of either axis of the wrist it would be a very power hun gry method for tilting the laser given that the laser is heavy and the power comes from a portable battery system Moreover one of the axis from the wrist would be unused It was finally decided to use the wrist for controlling the motion of the camera even thought it could be achieved with a smaller controller with minor power requirements The manufacturer gives several interfaces for controlling the wrist Profibus CAN and serial The serial RS 232 bus was chosen over the others because of the simplicity the availability of drivers and the sufficient fulfillment of our requirements It is connected to the on board computer via a custom made cable with an intermediate RS 2323 to USB converter The wrist endpoint has industry standard serial closings 5 6 1 Wrist servant All source code for controlling the wrist is located under S SVN _ROOT Higgs branches CORBA code devices wrist The programs and utilities found there include Low level library with direct access to serial port Servant code for the CORBA object Simple CORBA client to test the functionality and status Graphical CORBA client for manually teleoperating the w
31. accurate motion control to the camera ASLab org Higgs Manual R 2010 008v 0 1 Draft 27 of 97 The onboard computer runs a full capable operating system and is the com munications hub for controlling remotely all the devices on the robot Soft ware controlling the devices may be installed onboard or in a remote com puter 4 1 1 Visual identification of devices Figure 4 1 General view of Higgs Figure 4 2 Robotic base Pioneer 2AT E iui Figure 4 3 On board computer VAIO laptop 28 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Figure 4 4 Laser sensor Figure 4 5 Wrist Figure 4 6 Camera ak II LU LI LD A B8 TUM y Figure 4 7 Power board ASLab org Higgs Manual R 2010 008v 0 1 Draft 29 of 97 Figure 4 8 12V to 24V converter Figure 4 10 Differential GPS set Base station parts 30 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Figure 4 11 Input Output board Arduino Figure 4 12 Compass Figure 4 13 Accelerometer ASLab org Higgs Manual R 2010 008v 0 1 Draft 31 of 97 compute computer L aser GPSd base Power board USB hub Wrist Robot base x2 urrent Voltage sensor Compass x2 IO sensor Accelerometer Figure 4 14 General data connection diagram 4 1 2 Data connection diagram Arrows indicate the direction of valuable information flow 4 2 Sett
32. ade an unique module inside the VAIO on board computer The Bat teryModel is a component that calculates the parameters related to the charge in a battery and estimates the remaining life based on the power require ments The CurrentMonitor is not used in any other module but has been an utility component for developing the BatteryModel It periodically polls the current of the currently instrumentation batteries and reports the mean consumption since it was required to start monitoring Neither component reads or uses the peripherals on the computer Battery Model is exclusively a CORBA servant and the clients must pass the data to it in order to compute the estimations for the battery life whilst CurrentMon itor is besides a servant a client to the Arduino CORBA servant for reading the current values of the batteries Installation of the module and automatic setup is achieved as in the other modules ASLab org Higgs Manual R 2010 008v 0 1 Draft 75 of 97 Chapter 6 ASys Approach to Higgs The ASys Engineering Methodology developed in ICEA is based on the OASys ontology and has been applied to the Robot Control Testbed for its concep tual analysis The following sections provide a description on how the differ ent tasks were accomplished with examples of the different workproducts obtained The terms in italic that appear in the phases tasks subtasks and models descriptions are those defined in the Packages of OASys
33. al hours Latitude Longitude Height The command indicates the base sta tion that it should calculate the GPS position for the corrections All position reading after this command returns the fixed coordinates given INTERFACEMODE COM2 NONE CMR OFF LOG COM2 CMROBS ONTIME LOG COM2 CMRREF ONTIME 10 LOG COM2 CMRDESC ONTIME 10 1 72 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Sets the COM2 port for sending the corrections using the message types CMROBS CMRREF and CMRDESC See the GPS manual for more information ONTIME 1 means to repeat the command every second Use the UNLOG log name and UNLOGALL commands to stop transmitting automatic logs Omit COM2 for sending the data your terminal SAVECONFIG Stores the configuration to the non volatile memory Rover station Proceed as for the base station except that the serial connection may be al ready available from the on board computer In this case you may need to stop the GPS servant first to gain control of the serial device port These com mands were used to configure it FRESET SBASCONTROL ENABLE EGNOS 0 ZEROTOTWO INTERFACEMODE COM2 CMR NONE OFF SAVECONFIG The SBASCONTROL command line configures the GPS mobile station to use the EGNOS SBAS satellites for better precision than GPS alone if the differ ential readings are not available 5 8 2 Servant The GPS module uses the conv
34. and use cases and additional information The fol lowing sections summarise the key aspects of the testbed 2 1 Higgs Structural Description 2 11 Base Platform The base platform of Higgs is a mobile robot Pioneer 2 AT8 which has been designed by ActivMedia Robotics Fig 2 1 It is a robust platform which includes all the necessary elements to implement a control and navigating system specially designed for outdoor applications Additional systems and elements can be attached to this platform The base platform is given the ASLab name Higgs as a reference to the Higgs bosson Higgs is a small size mobile robot with a support structure made of alu minium Its total weight is of 15 kg being capable of carrying up to 40 kg From a hardware viewpoint the mobile robot consists of different elements Robot Panel it is the superior platform of the robot designed for a later assembly of new elements such as cameras or laser systems Robot Body it is a box shaped element made of aluminium It contains the ASLab org Higgs Manual R 2010 008v 0 1 Draft 13 of 97 Figure 2 1 The Pioneer 2 AT8 platform used to implement the RCT Higgs robot batteries the actuators the electronic circuits and the rest of elements It also allows to attach additional elements such as an onboard PC a modem or additional sensors Control Panel it is the access panel to the robot s microcontroller placed in the robot panel It consists of s
35. art on started Naming Service respawn script sleep 5 date gt gt var log higgs laser log su l c usr local bin laser_server higgs gt gt var log higgs laser log 2 gt 81 end script Other modules have different upstart config files See each module source tree The Naming Service should start automatically too after installing it If not an upstart config file must also be created for it In either case the endpoint must be specified in the parameters i e manual execution 54 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Naming Service ORBEndPoint iiop higgs2 disam etsii upm es 9876 The JAVA servant does not use the automatic NameService resolution mech anism provided by the C macros in CORBA utils h and needs to have it specified as arguments when running it Also the next two lines must exist in the profile file in the home directory of the user running the servant export PATH opt jdk1 6 0_26 bin PATH LD LIBRARY PATH usr local lib export Replace paths apropriately 5 4 WO board The I O board manages the sensors and actuators that do not have a specific interface for connecting them to a computer It has been implemented with an Arduino Mega board The devices controlled by the I O board are e Compass e Accelerometers e Battery sensors e Laser pitch e Power board These devices are connected to the Arduino Mega commercial board through
36. base is stored with the commands and parameters used by the stations The minicom command line application is best used You may have to con figure it Open etc minirc ttySl and insert these lines ASLab org Higgs Manual R 2010 008v 0 1 Draft 71 of 97 Machine generated fil use minicom s to change parameters pu port dev ttyS1 pu baudrate 9600 pu bits 8 pu parity N pu stopbits 1 pu rtscts No Change the port as needed Run minicom ttysSl Now you should have access to a command line where you can send com mands and check the status of the device Base station Set up the base station with the RF input to the external antenna situated in the roof of the department of automatics Get a serial cable and plug your personal computer to COM1 Start the minicom program to start a new ses sion with the GPS device These are commands were used to configure it FRESET FIX POSITION 40 4397076 3 6881482 744 INTERFACEMODE COM2 NONE CMR OFF LOG COM2 CMROBS ONTIME LOG COM2 CMRREF ONTIME LOG COM2 CMRDESC ONTIM SAVECONF IG E E o E The meaning of the commands is as follows FRESET Clears the non volatile memory and sets the configuration to the default val ues RESET does the same thing without clearing the non volatile memory FIX POSITION 40 4397076 3 6881482 744 This is the position measured for the base station after a period of sever
37. ccess the NameService to publish their services The table 4 1 shows the id s used by each module being the kind parameter empty for all of them B appropriate module is installed and running ASLab org Higgs Manual R 2010 008v 0 1 Draft 39 of 97 Description IDL Name Service ID Camera Camera idl CAMERA I O Board Arduino idl Arduino Robot base Pioneer2AT idl PIONEER Wrist wrist idl wrist Battery Model X BatteryModelidl BatteryModel Current Monitor BatteryModelidl CurrentAverage Laser Laser idl LASCOR GPS gps idl GPS Table 4 1 Names of the CORBA objects registered in the NameServer 4 5 1 Subversion The device modules have test programs that can be run either locally from the onboard computer or remotely without needing to log in This section and the next one are a quick guide for reconfiguring and troubleshooting easy problems with the devices Any problem not solved here requires further understanding of the robot software mechanisms and are described in the developer manual The first thing to do is download the source code Supposing you already have installed the necessary programs and libraries type svn co svn ssh sagan home svn repositories Higgs to check out the source Again replace sagan with 138 100 76 251 if your hosts conf is not correctly configured and prepend it with your user name and an Q if your server user is not the same as the local user There is a second reposit
38. ce is one of laser wrist gps arduino pioneer or any other avail able CORBA servant There is one more daemon the CORBA Naming Service that opens the port 9876 is always running and does not interfere with the devices Logs and troubleshooting Servants print their output to a log file in the on board computer placed at var log higgs You will have to consult these for debugging problems with the servants such as not starting setting the device file and checking overall status 4 5 4 TO board The next procedure is standard on all modules Enter the directory HIGGS_ROOT branches CORBA code devices arduino client Be sure to have the complete source tree at least the code subdirectory as many methods rely on files situated back in the tree Run cmake make This will generate the CORBA stubs and headers and then compile the client code The binary arduino client will appear Run it to read the parame ters of the devices attached to the IO board and setreset some of the devices 42 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 4 5 5 GPSd You may want to test the full GPSd equipment with differential corrections or only the rover part The differential readings may not work in the campus be cause of interferences in the environment that blocks radio communications between the base station and the rover Rover the serial cables are correctly installed The USB to RS232 converter should b
39. cteristics and roles by ontologically instantiating the concepts in the PhysicalDevice Package into a DeviceModel 86 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Chapter 7 Mission Specification ASLab org Higgs Manual R 2010 008v 0 1 Draft 87 of 97 Chapter 8 Higgs Webots Model Figure 8 1 The Higgs virtualisation in Webots 88 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Chapter 9 Model based Synthesis This chapter will contains the description of the software synthesis process from models ASLab org Higgs Manual R 2010 008v 0 1 Draft 89 of 97 Chapter 10 Higgs Self Awareness This chapter will contains the description of the mechansisms for self awareness in Higgs 90 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Appendix A CORBA Interface Definitions ASLab org Higgs Manual R 2010 008v 0 1 Draft 91 of 97 Appendix B XML Self model The self management system uses an XML model as the central repository of information on reflective knowledge This is used by the self manager in the decision making concerning the functional operation of the robot What follows is the XML model concerning bandwidth based reconfigura tion of the robot perception system lt xml version 1 0 encoding UTF 8 system xmlns http www rcc com system xmlns xs http www w3 org 2001 XMLSchema xmlns xsi http www w3 org 2001 XMLSche
40. ctronics for each receptor have been encapsulated into plastic boxes with these connectors and indicators available e One double power LED indicator for checking 12V and 3 3V e One USB e Three RS 232 ports COMI to COM3 with male DB9 connectors e One DB9 connector labelled CEXT e Power Jack connector 12V nominal e Two TNC connectors e A reset button The connectors used on both base station and rover are the same The an tenna either the small one on the rover or the bigger circular one on the base station is connected to the RFIN labelled TNC connector The other TNC connector is not used and its purpose is to have an external high precission oscillator for the GPS time measures The power jack is used to power the unit COM2 is connected to the radio emitter receptor for sending receiving the differential corrections from the base station to the rover COM1 is con nected to the VAIO laptop through a USB to RS232 adaptor so the GPS re ceiver can send the position information to the CORBA servant On the base station COMI is only used when configuring the parameters of the receiver and saving them to its internal non volatile memory 5 8 1 Configuring the devices These procedures are not to be used while on normal operation of the robot They are only needed on first boot then the configuration is saved perma nently on the non volatile memory of each device There is a little booklet inside the yellow bag where the station
41. e 6 8 RCT Navigation UseCaseModel detailed for Subsystems The UseCase Modelling Subtask can also obtain a Subsystem UseCaseModel which gathers the Requirement for a particular Subsystem In the case of the RCT this subsystem usecasemodel was obtained for the Base Platform Fig 6 9 showing the instantiation of the original ontological elements to detail the FunctionalRequirement of movement for the On boardSystem to specify the FunctionalRequirement of ManageCommuni cations Fig 6 10 and for the SupportingSystem to clarify the Manage SensoryInput requirement Fig 6 11 A subject ou 5 Jusecase etn a Ez subjectName appiiddTo Eg useCaseName m subject d useCase participatesIn E useCaseActorName Register Speed 0 1 Encoder participatesIn LjBasePlaform DA movement appliedTo subsystemUseCase aa E Control Actuator 0 1 E Microcontroller 0 1 participatesin Figure 6 9 BasePlatform Subsystem UseCaseModel The next Subtask in the ASysRequirement Phase is to detail each UseCase Model obtained during a UseCase Detailing Subtask This detail can be achieved by filling a pre defined ASLab UseCase Pattern with the rel evant information in each field as required This Subtask was performed by the RCT developers having as results different textual tables for the previous UseCases For example the detail for the Navigation require ment is shown in Fig 6 12 and the Survival one in Fig 6 13 e Requirement Cha
42. e attached to COMI Turn on the GPS switch Now to the software part Go to HIGGS ROOT branches CORBA code devices gps src and run cmake make Run gps client A command line menu will be printed form where you can check the satellites used in the solution the current po sition and speed the standard deviation for the position and the type of dif ferential corrections used if any Base station The software part is the same as in the Rover part with the standard devia tion reducing to 0 02m or so if the differential correction is working Prepar ing the base station Go to the ASLab closet and locate a yellow bag Take out the black leather battery the blue radio transmitter with the antenna the white box housing the electronics and the cables The GPS antenna is located on the roof with the coaxial cable hanging down the facade to the back of the room where Higgs lives Open a window and take it inside Beware of your workmates in winter Connect it to the electronics box Power the electronics box with 12V for example using Higgs charger and the radio transmitter to the battery pack using the appropriate cable Finally connect the electronics box to the battery pack with the serial terminal attached to COM2 The battery pack is internally wired to connect the serial data and the power to the cable attached to the serial transmitter Press power in the serial transmitter After a few minutes the Tx led should start blinking
43. e block composed of the laser sensor and the metacrylate structure that supports it Get a number 5 allen wrench and unscrew the bolt placed under the laser tiliting the latter upwards to reveal it Then remove the two similar bolts on the other border of the alluminium plate that the first bolt was also holding The methacrylate structure will be loose but do not take it off yet Unplug the cords attached to the arduino board and the two data and power cords of the laser Once all cables are released the structure can be lifted Be careful not to damage the accelerometers when reassembling as its placement has been carefully crafted to fit between the laser structure and the arduino connection board The second way allows for easier but more tedious disassembling Remove the radio receiver of the GPS turning it as it was a huge bolt Then unscrew the four bolts holding the upper methacrylate plate of the laser structure Be careful with the weight of the devices fixed to this plate This will leave the two walls standing to the sides of the laser Looking from a robot point of view the right wall can slide outwards releasing the laser from its side constraints Take it out after unplugging the power and serial data cords If further disassembling is required proceed as in the previous paragraph Reaching the inside of the mobile robot Once the top part of the mobile base is free from devices and structures both front and back inside parts of the
44. e gt lt propertyDataType gt lt mutability gt mutable lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt video_fps lt ID gt lt propertyDataType gt lt xs element name video_fps type robotVideo_fps gt lt xs simpleType name robotVideo_fps gt xs restriction base xs double gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt derived parameter section gt property lt ID gt bwidth_used lt ID gt lt propertyDataType gt lt xs element name bwidth_used type robotBwidth_used gt xs simpleType name robotBwidth_used gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt configuration parameter section gt ASLab org Higgs Manual R 2010 008v 0 1 Draft 93 of 97 property lt ID gt video_rgb lt ID gt lt propertyDataT
45. e onboard computer and choosing the OS The onboard computer has several operating systems installed WindRiver OS dev sda1 1GB This was once used as a testbench for the WindRiver OS It is several years old and is not used any more Windows XP Professional dev sda2 25GB The original Windows OS prepackaged with the laptop The NovAtel GPSD utilities have been installed here for quick GPS diagnostics Ubuntu 10 04 Long Term Service dev sda3 14GB This is the current work ing environment with Real Time Application Interface RTAI kernel Fedora 13 dev sda5 29GB Hasthe previous working environment with CORBA modules and depending on the nameserver in the old onboard computer Has a custom driver for supporting the FireWire camera ASLab org Higgs Manual R 2010 008v 0 1 Draft 37 of 97 Swap partition dev sda6 100MB On bootup there is a selection of the operating system to start It includes Ubuntu with and without real time kernel a RAM memory test and the other three OSs The default OS is Ubuntu with the RTAI kernel Note that only the current working OS that is the Ubuntu with RTAI kernel is documented here The other operating systems are old but kept for backup and compati bility with old software Shutting down The correct procedure to shut down the onboard computer is to log in as root and request shutdown root higgs2 root halt Forcing instant shutdown using the power button is not recomme
46. e to the serial device and waits for the acknowledgement This is valid for both di rections of data flow The telegram gets destroyed once the communication ends g CORBA client servant wrist_servant EJ dev SerialLinkRS232 E wrist wrist 1 set positior 1 1 create EH order powercube telegram 1 2 send TAi Seid 1 2 1 1 set 1 2 2 Send 2 status 1 2 3 Receive 1 2 4 Receive 1 3 send 1 4 delete 3 set_positior Figure 5 18 Sequence diagram for transmitting data to the wrist 5 6 2 Error recovery The wrist must be powered as said in the official documentation by a 24V power source mobile or not However the fluctuations in voltage caused by battery charge and the instant consumption of the devices make it difficult to keep the voltage of the battery near this value Because of this fact the wrist controller has been designed for high error tolerance A running thread in the servant polls periodically the wrist for error codes and takes the ap propriate actions when a failure is detected as explained in each considered fault These are the possible faults that have been taken into consideration Battery voltage out of bounds It has been detected empirically that the wrist will not function if the battery voltage is under 22V or if it is over 27V so it will not work if the battery is either fully charged or next to empty However the control electronics are still available The s
47. ention for other module sources installation and execution procedure code placement inside the subversion repository and CORBA utilities such as in other modules are used The servant code uses non standard commands to receive the data from the rover station The commands LOG BESTPOS LOG BESTVEL are sent on startup and used to retrieve the information about satellites po sition standard deviation and speed This data is fetched by an independent thread to the CORBA one and stores it into a shared variable for the CORBA thread to read it each time a client asks for the data There is also a timeout by which if no data is received after a fixed amount of time an error is issued 5 8 3 Radio signals and ETSII UPM The ETSII UPM is surrounded by many governmental sites It is possible that radio transmissions with the differential corrections fail because from ASLab org Higgs Manual R 2010 008v 0 1 Draft 73 of 97 interference from these sites Other investigation groups have had the same problem In this case the dGPS will not work Official service has anyway recommended us to use this configuration in the rover if the problem persists UNDULATION USER 0 0 FIX NONE COM COM2 9600 N 8 1 N OFF LOG COM2 GPGGA ONTIME logperiod INTERFACEMODE COM2 CMR NOVATEL OFF RTKSOURCE type any ANY 5 9 Binocular camera The binocular camera is attached to the top of the powercube allowing f
48. ents As outcome of the task a StructuralModel for the RCT is obtained consisting of StructureModels andTopology Models e System Modelling The SystemModelling Subtask carried out for the RCT has obtained the StructuralModel consisting of the StructureModels and the Topol ogyModels For the RCT StructureModel the different subsystems part of it were determined according to the structural definition provided Hence three different kind of subsystem were iden tified the platform the onboard system attached to it and the supporting system which are not physically part of the RCT but take part into its operation The platform was further analysed to identify the subsystems or elements part of it The different on board systems were identified Finally the supporting systems were specified The overall analysis result was formalised as a StructureModel for the RCT Fig 6 14 The TopologyModel allows representing the topological connections between a system s parts by refining the Topology Package con cepts For the Robot Control Testbed it was considered important to differentiate the topology from an informational and a physical 84 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Microcontroller sonar E Battery E RobotPanel E HardwareElement E Bumper Ez attributet E RobotBody element E Encoder E Motor E ControlPanel 1 EJonboardSystem E BasePlatform subsystem Eloperatingsystem i subsystem
49. everal control buttons robot status leds robot switch on microcontroller status battery charge and a serial port RS 232 to be used as an input and output communication link with a external PC Sensors the mobile robot is provided with two arrays of eight sensors each which allow the detection and location of objects in the mobile robot environment The arrays are placed at the front and at the rear part of the robot Actuators the robots contains 4 Pittman motors GM9236E204 Each one includes an optical encoder to determine the robot s speed and position Microcontroller it is a Hitachi H8S microcontroller consisting of different el ements memories serial ports inputs outputs 8 bit bus which carries out different operations such as trigger and register the sensors signal control the actuators and some other low level operations Bumpers they are additional elements attached to the platform 5 at the front and 5 at the rear Power there are three batteries 12 VDC 7 Ah h located at the rear part of the robot They provide 252 W h which assure several hours of auton omy movement to the robot Their status can be checked in the corre sponding led of the control panel 14 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org In addition to the hardware the mobile robot has different software elements either provided by the manufacturer or developed by ASLab team members AROS ActivMedia Robotics Operat
50. extension board as an add on module The sensing resistors are placed one inside the Pio neer2AT glued to the chassis under the back sonars figure 5 2 and the other one is in an aerial connection on the battery cable immediately before the power board E gt AQ 7 A C3 MOTORES nce CO E INSTRUMENTACION Figure 5 7 Battery sensor schematic Figure 5 8 Battery sensor board layout Supposing ideal components the output voltage given by the current sensor is given by the formulae Reg Ro 1 1 1 _ Ro H U 5 1 Ro Re Ri Ra Rs Ri EN The condition that must be met for both references to be scaled down by the Hae ASLab org Higgs Manual R 2010 008v 0 1 Draft 59 of 97 Parameter Instrumentation Motors R1 33k 18 7k0 R2 330kQ 330kQ R5 8 45kQ 5 6kQ R6 8 45kQ 330kQ 5 6 k0 330k R9 33K 18 7kQ Max sensing current 6A 17A Max differential input 0 3V 0 17V Gain 10 17 647 Voltage scale factor 0 1998 0 2275 Sensing resistor 0 052 0 010 Table 5 2 Characteristics of the differential amplifiers for the battery sensors same coefficient is that the relation of the resistor values between the positive input and the negative input is Ro R Ee A 5 2 Re Re Bs Ee This way mE From this result we can observe that there is great sensibility in t
51. he opera tion of the differential amplifiers The resistors from the negative input and the positive input must be of the same value of the same brand and of the same batch to give enough precision Rg R1 and Re physically being two resistors in parallel Re Ra Rs Uo Ut U7 The current sensors will not work correctly while the batteries are charging 5 4 6 Servant and firmware The CORBA module has been written in the JAVA language whilst the test client in C When the TurnOn and TurnOff methods are called the appro priate device is turned on off and simultaneously for the gps laser wrist and camera the servant that controls the device is killed from the arduino servant This only works if the device servant is installed and running on the same machine as the arduino servant and will solve some issues on the protocol management that some of the servants have with their device The servant will then be restarted by the vaio tools utility scripts Both the embedded program inside the I O board and the Java servant com municate through a USB data connection that gets converted to serial RS 232 by a FTDI chip in the Arduino board The I O board starts the communica tion protocol by sending all the parameters and sensor readings to the ser vant and then the servant optionally answers with the order The figures 5 9 5 10 5 11 and 5 12 show the UML model of the JAVA sources of the Arduino CORBA servant 60 of 97 R
52. i A map of the area of any kind level of detail iii Current location known iiii Working communication channel both ways with the commander Postconditions Higgs at desired spatial destination Higgs in the same working condition that it was at the start a reduction in battery charge allowed ready for e g a next position Extends Includes Reactive movement Avoid obstacle Constraints Assumptions Alternate Flow of Events Ifan obstacle is unavoidable Higgs shall report to commander and maintain its current position In the case of a battery warning the Higgs notifies the commander and tries to reach a safe location e g plain terrain instead of a slope before it is down Change history 2009 01 13 modified CH Open issues Free slots ASLab projects relevant to ICEA UCO101 ICEAsim Identifier UCXXXX Source CH Lead CH Description The robot is pursuing a mission that is permanent in time e g patrol and has to recharge itself appropriatedly so as to keep achieving the objectives of the mission Functional Focus robustness Rationale Implementation Physical Actors Mobile robot human operator environmental entities Status Proposed Priority High Basic flow of Events Preconditions i Base robotic platform operational ii Location of the charging points Postconditions Extends Includes Identifica
53. ifi IEEE 802 11b USB infrared port Power from its internal batteries Features Screen LCD 4 3 16 9 Wifi Security WEP WPA both AES amp TKIP Video Compression H 264 MPEG 4 AVC ASLab org Higgs Manual R 2010 008v 0 1 Draft 25 of 97 3 3 2 Remote Server 3 3 5 Wireless Network RCT Identifier aslab wireless RCT Name aslab wireless Description ASLab s wifi network at DISAM and its surroundings Functionality role Wi fi connection Access point Linksys WAP54G State fully operative Serial number Purchase date Situation the access point is currently situated in the library Encryption None Features Other config usr psswd 26 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Chapter 4 User Manual 4 1 Functionality description The Robotic Control Testbed is a Mobile Robot built from a commercial robot base with added funcionality The robot base consists of a four wheel vehicle with position and speed control embedded integrated power and control electronics and 16 ultrasonic sensors that give readings on the distance to close obstacles Additionally front and rear bumpers have been installed for safeguarding the robot while operating it in very constrained areas and for manual stopping The Laser range reader can measure distances from 8mm up to 80m depend ing on configuration Typica
54. ing System it is the operating system consisting in server processes running on the Hitachi microcontroller in Higgs It is a low level software in charge of regulating the motors speed sonars signal encoders signal and other low level tasks This software will also communicate the obtained information to other client software applications through the RS 232 serial interface ARIA it is an applications programming interface API based on C to control the robot It acts as the client in the client server topology It allows to program high level software applications such as intelligent behaviour obstacle avoidance object recognition wandering explo ration etc The robot control is based on direct commands movement commands or abstract level actions ASLab team software there are a set of modules developed by the ASLab team members to extend or to add capabilities of Higgs The modules developed are communication synthetic emotions SOAR inte gration voice RI CORBA control server RI CORBA robot status register Java based CORBA client CORBA based remote opera tion and surface recognition 2 1 2 Onboard Systems On the base platform different devices have been attached to expand the original range of functionalities of the mobile robot Fig 2 2 Onboard Computer it is a computer attached to the base platform whose mission is to facilitate the communication with the microcon troller
55. ing up the system Preparing the robot for operation is easy Power it on and all systems will start automatically On next sections it will be discussed how to command it 4 21 Powering the robot There are three switches that must be turned on to enable the robot with full capabilities The first one is at the back of the robot next to the wheels This switch powers the Pioneer2AT8 robot base and the power board The power board has a general switch for all devices and one more for each device for 32 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org manual disabling The power board is placed between the two big methacry late structures Each switch has a label with the device that enables The last device to power on is the VAIO laptop Note The devices powered by the power board can be also disabled auto matically by the Arduino When the Arduino is not correctly powered on the voltage levels at its pins are undefined and may disable the power to some devices Be sure to power the arduino if you are going to use any other device from the power board Only the laptop is mandatory to power on The other switches may stay off if you are not going to use the device associated to that switch However you will have to start at least one device to make it useful The Arduino does not disable any device by default Both the manual switches and the Arduino may force the shutdown of any device so to use a device be sure tha
56. l l y 77 S Accelerometer 12V to 24V converter Robot base Robot base geko with data b I V Sensor l l l GPS radio battery GPSd radio f M Power cable shared l l l Figure 4 15 General power connection diagram 34 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org pull the batteries with the black sucker or carefully with the hands do not get yourself pinched When inserting the new batteries remember that the battery terminals go last Failure to introduce them correctly will cause short circuits and damage the electronics Figure 4 16 Robot base charger Recommended voltage when using the batteries is between 11 5V and 12 5V If the batteries are too low the robot will indicate it with continuous short beeps You can check the battery status through the battery LED in the Pi oneer2AT8 panel Green when fully charge through orange downto 11 5V finally red To keep the batteries in good conditions do not discharge them completely Doing so will decrease the charge capacity It is better to fully charge them after each use To charge the batteries connect the charger to the robot through the power jack connector to the left of the battery door Its charger is the big black one model PSC 124000A You may leave the charger connected for as long as you want but remember to switch off the robot every night as electricity in the laboratory is turned off and the robot
57. lly it will function with a resolution of 1mm and a range of 8mm to 8m It is the main sensor along with the odometer read ings in SLAM navigation It can be rotated to make three dimensional maps with the servo The mechanism operates in open loop mode which gives a low precision angular rotation given the mechanical hystheresys and the thermal and age deviations of set Next to the laser the I O board or data acquisition board is a general pur pose input output board that connects to a compass a two axis accelerometer the laser servo that controls its tilt movement and two current and voltage sensors one for monitoring the consumption of the robot base and the other for the power board and related devices These sensors and actuators are controlled through the I O board module For outside applications there is a global absolute position sensor which con sists of a GPS antenna Radio receiver and battery for receiving differential corrections from a base station and a GPS receiver that processes the data and converts it to an easier format readable by the onboard computer Visual applications can make use of the binocular camera which in combi nation with the wrist that gives pan and tilt movement to the camera with respect to the robot base and is located on top of the laser can direct the fo cus of the attention in almost any direction The wrist is internally controlled in position speed and acceleration which gives precise and
58. ma instance xsi schemaLocation http www rcc com system file C Users raduadmin name BandwithControl name resource lt ID gt robot lt ID gt state parameter section gt property ID link quality ID propertyDataType xs element name link quality type robotLink quality xs simpleType name robotLink_quality gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt bit_rate lt ID gt lt propertyDataType gt lt xs element name bit rate type robotBit rate gt xs simpleType name robotBit_rate gt 92 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org xs restriction base xs int gt xs simpleType lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt missed_beacons lt ID gt lt propertyDataType gt lt xs element name missed_beacons type robotMissed_beaco lt xs simpleType name robotMissed_beacons gt xs restriction base xs long gt lt xs simpleTyp
59. n files must have been installed for proper operation Clients only need one configuration file etc higgs nameservice ip containing the address and port of the Naming Service that the servants are using for publishing themselves higgs2 9876 Configuring serial port links On the server side there are a few more entries inside etc higgs the most important one for configuration issues being devices This directory con ASLab org Higgs Manual R 2010 008v 0 1 Draft 41 of 97 tains soft links to the character devices that represent the USB to RS 232 con verters in dev The servants open these files instead of the real devices so they can be reconfigured without having to recompile Usually you will mod ify these links when swapping the serial cables of the devices or changing the arrangement of the USB to serial converters Knowing which device file goes with which device is a matter of trial and error starting the servants and testing wether they started or not See 4 5 3 for more information on servant logging Starting and stopping the CORBA servants The servants use upstart the standard utility in Ubuntu for booting the sys tem and running the daemons You may start or stop the servants in case you need the correspondant devices i e the laser and the robot base in ROS or they are not automatically started on boot To start a servant use start higgs device and to stop it stop higgs device where devi
60. n slowly move the pointer and the wrist will fol low it The range of movements is limited by the servant for secure operation whatever the input is However the batteries and converter may not be able to provide the required power if fast enough movements are requested 4 5 8 Robot base TODO 4 6 Developing a client 4 6 1 ASLab client utility functions for CORBA The methods for initializing the CORBA infrastructure and getting the object references is quite complicated and always the same The file code lib CORBA utils h contains C macros that ease the procedures for setting up a client managing the errors reading the object references from the nameserver and configuring itself for reaching that nameserver The typical client would be something like include lt iostream gt include implementationC h include CosNamingC h include Higgs branches CORBA code lib CORBA utils h int main int argc charx argv CORBA_BEGIN_CLIENT argc argv CORBA GET REFERENCE module implementation impl IMPL 44 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org impl do things CORBA END CLIENT return 0 With the correct route to CORBA utils h The arguments for CORBA GET REFERENCE are 1 module implementation The type of the object to fetch 2 impl The identificator desired for the reference It should not be de
61. nded how ever normally there has been no problem with the OS afterwards 4 4 2 Loggin in to the onboard computer through SSH The Secure SHell server is run in the onboard computer by default and open to everyone that has a user account or the root password The root password is the same as the root password for all the computers in the laboratory Ask your tutor for a local account on higgs or the root password Access can be obtained by opening a terminal and executing the command your pc ssh account in higgsGhiggs2 and root access by changing account in higgs with root If you want to execute programs that use a graphical interface create a ssh tunnel for X with the option X your pc ssh X account in higgsGhiggs2 This way the program will execute in the onboard computer and display in your local screen remotely In case you get this error while trying to connect ssh Could not resolve hostname higgs2 Name or service not known then you have a problem with the name resolution on your computer Copy these lines to etc hosts as root to solve it 127 0 0 1 localhost 38 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 138 100 76 251 sagan aslab upm es sagan 138 100 76 20 noe aslab upm es noe 138 100 76 26 churchill disam etsii upm es churchill 138 100 76 250 quark disam etsii upm es quark 138 100 76 239 parker disam etsii upm es parker 138 100 76 252 aldiss disam etsii upm es aldiss 138 100
62. needs of the investigators at ASLab with which to test the algorithms in system auto reprogramming with partial malfunction of a robot The Power Board is in control of the power supply of up to nine devices in the robot Each of these channels may be manually shut down by means of a switch or remotely automatically using the ribbon cable connection to the Arduino board There is a LED power indicator for each channel plus and a switch and LED indicator for all the board Three of the channels the ones nearer to the The MEGA Arduino board has an integrated USB to RS232 chip so it will appear as a serial port devttyUSBx when connecting the USB cable ASLab org Higgs Manual R 2010 008v 0 1 Draft 63 of 97 MAIN BATTERY SWITCH CHANNEL SWITCHES CHARGER b li b RIBBON POWER SOURCE 3x24V 6X12v CABLE CONNECTORS OUTPUTS OUTPUTS Figure 5 13 Photograph of the Power Board indicating each part general switch can control 24V devices whilst the other 6 are for 12V devices On the back side there are 12 connectors 6x12V relay controlled outputs 3x24V relay controlled outputs 12V input 24V input and a 12V output to be taken to the 12VDC to 24VDC converter that will be powered on whenever any 24V output is enabled Additionally there is a power jack connector for the battery charger Thus the Power Board needs a 12V power source and if the 24V channels are used it also needs a 12VDC to 24VDC converter 5 5 1 Power board pinou
63. nents The tools and libraries in use are defined as well as how they have been installed and configured and a detailed descrip tion of the modules both hardware and software 5 1 Mobile base 5 11 Disassembling the robot The main reason for disassembling the robot is to access the inside of the mo bile base for repairs and updates The remaining components can be accessed without major disassembling The robot base has two black plates screwed to the red chassis with a joint between them This allows to access different parts of the robot without fully disassembling it The front part of the robot is where the motors are placed and the inner on board computer can be fitted No computer is currently installed inside so it will rarely need servicing See section 5 1 1 to access it The back part houses all power and control electron ics and the batteries and can be reached disassembling the back methacrylate structure with the alluminium gantry This is achieved by unscrewing all six bolts fixing it to the robot base Be sure to unplug all necessary cords when taking it out The robot base will power up but will not work correctly if the multi coloured ribbon cable is not properly connected to the black instrument panel of figure 5 1 46 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Figure 5 1 Robot base instrument panel Disassembling the laser There are two ways to disassemble the laser The first one removes th
64. ns 52 5 3 1 ASLab servant utility functions for CORBA 53 5 32 Module installation and configuration files 54 54 W O board L ge gr a x Ro RR SEE d Fi epide oe 55 5 41 Tilt mechanism for the laser 55 542 Burt d ros 264 Ganse Sanaa ku a ORE 57 DAS COMPASS o i pi by kwen Zug ZE E qex ee ed 57 5 4 4 Accelerometers vus ec Sub Git op bb b KER Re ds 58 5 4 5 Intensity Voltagesensor 58 5 4 6 Servant and firmware w gd ere E av you Xo 60 5 5 Power board ix ESE RSS OS WA depite pe k 63 55 1 Power board pinouts sw we sonn on w ooo nen 64 5 5 2 Electric ale EA 64 5 5 3 Power Board Bugs d ac eb gupen E an oho RR tea 66 5 6 WEISE e c ee dan W URGERE RUE e ROTE Kore dom erea 67 5 6 1 Wrist servant ee 67 B JEPRO TOCOVOUY ao x A 4429457244 Gate e 69 D7 Lasset rgi ta Gg dd eg dg Gz Gizar Gg dd dg 4444 70 5 71 JLaserserv nt ZEI e ana d ed ae sse d kb en OX 70 5 8 Differential GPS ez Gre so eS ER RE w pete XX 71 5 8 1 Configuring the devices 71 5 8 2 Servant kol owa sie dee ev ee OS Poe ede E X RR 73 5 83 Radio signals and ETSILUPM 73 5 9 Binocular camera seria See ee ee d Se E eregue 74 59 1 Compiling and running the CORBA module 74 5 10 BatteryModel and CurrentMonitor 75 ASys Approach to Higgs 76 6 1 RCT ASys Views NERA 76 8 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 6 2 RCT A
65. o E ooo W egn Basic maintenance 22e 43 4 Wheels p 500044 e a wea e ba d E eik b 432 Battery management sue be b RE RE E RE es 45 0 Diagnostics 244 22069 Sadao eee ORO GR AE e oes Operating the robot manually 4 4 1 Booting the onboard computer and choosing the OS 44 2 Logginin to the onboard computer through SSH Testing the modules ore dece ggb Je dir E gie 45 1 Subversion 4 5 2 Subversion directory hierarchy 4 5 3 Checking the environment for starting test programs 45 4 I Oboard reggea guaza ziar RR eien guo E PUT eie tA d gie Gg 45 6 Laser 22 x9 RR USE RP Ee 45 7 Wrist 222 2805 ke cR RR SU y dde Eo 45 8 Robotbase Developing a client yo ak giga GE SE mw xS 4 6 1 ASLab client utility functions for CORBA 4060 2 CMake iss a ox a te veni seve t di GR eum Eo 5 Developer Manual MODI DASS ek sd pis gi aS dre Ga EGE Ei a A 5 1 1 Disassembling the robot w s saw n zr o zn ASLab org Higgs Manual R 2010 008v 0 1 Draft 7 of 97 27 27 28 32 32 32 33 33 33 36 37 37 38 39 40 40 41 42 43 43 5 1 2 Firmware 48 5 2 On board computer e voe W GE dg EE Hg E bi VO Gro 48 521 Hubsandconverters 49 5 2 2 Real Time Operating System 49 5 23 OS b e cca dd E ee Sa do ake gere ke ni 51 5 3 Common librariesand module consideratio
66. or pan and tilt movements The image data is transmitted in raw yuv format between the CORBA servant and the clients When restarting the servants you should kill the process and call dc1394 reset bus or else the servant will not succeed on starting again 5 9 1 Compiling and running the CORBA module For installing the CORBA module on a fresh fedora linux system you must install these libraries which can be found in the repositories provided by the package atrpms glut glui libavcodec and related Inside the direc tory tree of the sources there are three scripts that help run the servant and test clients Compile and run the server with MS l server sh The test client with NS 2 client sh or for the old client e dfocclient sh The client runs best when configured to run with Xlib instead of OpenGL The user that runs the servant higgs when running unattended needs to be in the video group The source structure has not been adapted to the new tree configuration nor cmake idl Contains the idl interfaces generated is where the skeleton and stub source files are generated to obj the binary files are compiled to this directory text contains code to test the camera without using CORBA 74 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 5 10 BatteryModel and CurrentMonitor Note Porting to the newer SVN repository is pending These two CORBA servants have been implemented into one JAVA binary and m
67. ory with older modules and code that have not yet been ported to the new CMake subversion schema svn co svn ssh sagan home svn root Higgs An even older CVS repository exists too 4 5 2 Subversion directory hierarchy Once finished three directories will be available trunk The latest code available using the technology currently in develop ment in the robot which is ROS at the time of this writing branches Alternative code using other technologies which currently is only CORBA docs The source code of this document 40 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org This is the resumed directory tree inside branches CORBA code zr LowLevelControl zr WorldModel batteries zr control libraries devices arduino camera gps laser vaio tools wrist The directories to consider when programming new clients are code idl Contains the IDL definition files of all the modules necesary for controlling the robot You may open it for accessing the documentation for the interfaces and you will have to link to it for generating the stubs and skeletons lib C macro and CMake files See section 4 6 2 for fast client develop ment 4 5 3 Checking the environment for starting test programs Configuration files The next sections describe how to run the test programs contained in the CORBA branch for testing the devices Before running the test clients the configuratio
68. ot Now it is time to finish the installation compiling the realtime kernel modules and utilities 1 Go to the root directory of the RTAI source code and runmake menuconfig Select the number of target cpu s with the same number as the kernel and write the path to the kernel sources make and as root make install Configure the libraries as root echo usr realtime lib etc ld so conf d rtai conf ldconfig 50 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 4 Add usr realtime bin to the path of all users profile files echo PATH SPATH usr realtime bin gt profile 5 Finally check that the realtime extensions are working correctly Go to usr realtime testsuite kern latency and run run If realtime is correctly installed the last column should be all zeroes after 2 3 minutes 6 Optionally if space is low remove the packages and the source for the kernel and patch or only the object files with make clean 5 2 3 OS Tweaks There are some modifications to be done to the Operating System to have Higgs modules running flawlessly There must be a username called higgs and it must be a member of the dialout group Note also that by default the iptables firewall is enabled on many distributions and it must be configured or disabled before CORBA clients can make calls to the servants Kernel modules The linux kernel loads the serial modules for the converters at startup by de faul
69. ot interfere on the compass readings but if the robot is moving near steel structures they may be perturbed 5 4 4 Accelerometers There are two accelerometers encased on the same electronic board attached horizontally with Velcro to the top cover of the robot base next to the I O board They give a standard analog OV to 5V signal and are connected di rectly to the I O board 5 4 5 Intensity Voltage sensor There are two I V sensors installed on board plus the battery status indica tor in Vaio accessible through the command line The two sensors can detect current and voltage of the Pioneer2AT batteries and the instrumentation bat teries One operational amplifier per battery has been used as a differential amplifier as shown in Figure 5 7 This design allows to detect small varia tions in voltage of higher voltage than those of the working conditions of the operational amplifier specifically lower than 3 5V with the LM2904P oper ational amplifier powered at 5V The voltage sensor is a scale down of the battery voltage which is then divided by the scale factor by software to re cover the true value The gain is that of the differential amplifier To read the true current value both the gain and the sensing resistor value must be 58 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org considered See Table 5 2 for the numerical values The printed circuit board is designed to fit into connectors 3 4 6 and 7 of the Arduino
70. otModelElement gt xs sequence xs element name bwidth used type robotBwidth used xs element name video rgb type robotVideo rgb lt xs element name video width type robotVideo width xs element name video trans type robotVideo trans xs element name laser trans type robotLaser trans lt xs element name sonars trans type robotSonars trans xs element name video fps type robotVideo fps lt xs sequence gt lt xs complexType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read only lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt resource gt lt system gt ASLab org Higgs Manual R 2010 008v 0 1 Draft 95 of 97 Bibliography 96 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Title Higgs Manual Subtitle A Platform for Autonomy Research Author Carlos Hern ndez Adolfo Hernando Ricardo Sanz and Francisco Arjonilla Date December 5 2011 Reference R 2010 008 v 0 1 Draft URL http www aslab org documents controlled ASLAB R 2010 008 pdf 2010 ASLab Autonomous Systems Laboratory UNIVERSIDAD POLIT CNICA DE MADRID C JOS GUTI RREZ ABASCAL 2 MADRID 28006 SPAIN aslab org
71. placed inside the aluminium robot body attached to the robot panel and an access point connected to the laboratory LAN 2 Remote Control it is a portable device to remote control the robot 3 Server 4 User Terminal 22 Robot Functional Description The functional description of the Higgs robot Testbed has been made through the specification of use cases and requirements see Chapter 6 Functional Re quirement has been defined in the ontology as a requirement that specifies an operation or behaviour a system must perform For the RCT the functional requirements considered can be classified into pri mary and secondary ones A primary functional requirement refers to a main capability to be fulfilled by the system In the case of the RCT two primary functional requirements have been considered navigation and survival A secondary functional requirement refers to an additional capability desired in the system For the RCT these secondary functional requirements are to explore the environment to avoid an obstacle while moving or exploring reactive movement the identification of an object in the environment and search Some additional functional requirements expand or detail the former ones such as autonomous navigation as an extended case of the navigation one ASLab org Higgs Manual R 2010 008v 0 1 Draft 17 of 97 Chapter 3 Physical System Specification The RCT testbed is a mobile robotic system intended a
72. r the hippocampus that are addressed in other research activities 1 2 Content This report describes the Higgs Robot Control Testbed 1 3 Intended Audience This document is intended to provide a description of the concrete testbed for all stakeholders involved in development and evaluation of the SOUL architecture 10 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Figure 1 1 The Higgs robot is the central objective of development of the RCT where the architecture for robust autonomy is demonstrated 14 Mandatory References The ASys project is the context for this work ASys Vision includes a description of the long term objectives of the research OASys contains the ontology under development for ASys 15 Structure of the report This document purpose is to describe the implementation of a physical and software asset It consists of several chapters roughly organised in four parts Part 1 is dedicated to introductory materials that are useful to frame the main ASLab org Higgs Manual R 2010 008v 0 1 Draft 11 of 97 1 6 Format content of the report Part 2 describes the hardware Part3 is the main content with the software and modelling description of the integrated architecture Finally Part 4 contains some appendices The content is as follows Chapter 1 provides an overall description of the document and the context for this work Chapter 2 contains the specification of the robot hardware
73. racterisation ASLab org Higgs Manual R 2010 008v 0 1 Draft 81 of 97 OnboardSystem subject 0 1 appliedTo subsystemUseCase include H Manage Communication include x 0 1 End Communication 0 1 participatesIn 0 1 Establish Communication participatesIn OnboardComputer useCaseActor useCaseActor Figure 6 10 OnboardSystem Subsystem UseCaseModel SupportingSystem 0 1 subject appliedTo H Manage SensoryInput subsystemUseCase 9 Mp 0 1 include include H Display SensoryInput 0 1 H Store SensoryInput usecase 0 1 Usecase 0 1 participatesIn useCaseActor E UserTerminal participatesIn useCaseActor H Server Figure 6 11 SupportingSystem Subsystem UseCaseModel 82 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Identifier UCXXXX Source RS Lead CH Description The commander sends to Higgs an spatial destination spatial coordinates Higgs goes there while sending real time information of its current location and avoiding obstacles Functional Focus Rationale Implementation Physical Actors Mobile robot subject commander human or artificial agent Status Proposed Priority High Basic flow of Events Preconditions i Base robotic platform operational i
74. rist with the mouse e Compressed file with the obsolete source code for the wrist starting point but fully rewritten code for the current library PDF file from the manufacturer describing the serial protocol to the wrist The sources are all under the src directory and its documentation can be found inside the source files ASLab org Higgs Manual R 2010 008v 0 1 Draft 67 of 97 interface wrist get full state F set max speed 5 set max accel 6 set position 5 set diff position 5 get position 6 get speed F get current 85 is ready LI wrist servant o be F wait O 1 F get status device 1 E SerialLinkRS232 Eg device 5 Open O 5 Close GZ Send O S Receive 5 WaitData O0 E powercube telegram Eg axis address Eq command y device SeriallinkRS232 F send O receive use Figure 5 16 Class diagram for wrist module and CORBA interface 35 servant_activity process_start E Initialize 4 Attend CORBA calls Check for faults Ok b Sleep Yes paul Repairable No Figure 5 17 Activity diagram for wrist servant 68 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org When a CORBA client calls a method of this servant a new telegram is created with the parameters and format adequate to the call passing the reference to the serial device already initialized This telegram sends a messag
75. s platform to test the technology developed in ICEA The RCT platform is a pioneer mobile robot for research that is specially designed for outdoors applications The aim of the RCT testbed is to purvey the system with the neccessary cognitive abil ities so as to fulfil complex task This abstract aim is grounded in the speci fication of a high level mission and the evaluation of the OM consciousness architecture as to enhenace mission level robustness In this document the overall situation of the RCT platform of the ICEA Project is presented The purpose of the document is double e Report the current state of the platform e Provide a short description of the platform The specification section is presented in the form of tables of specifications to capture the main characteristics of the different devices that compose the RCT platform For much more detailed information on the RCT platform please refer to Higg s Manual poner enlace 3 1 Base Platform Pioneer 2 AT8 3 2 Onboard Systems 3 2 1 Gene 6330 18 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org RCT Identifier RCT Higgs RCT Name Higgs Description mobile robot for outdoors use Functionality role Robot base Model Pioneer 2AT 8 State fully operative Serial number AT8CDBB1722 Purchase date 200302 Alluminium body Physical Characteristics WEE m ZE Payload 40 kg Physical links In 5 analog Informational links Out
76. s the board was to be manufactured once it was not economically feasible to built it again and had to be repaired These bugs should be revised before sending the design in case the power board should be manufactured again The holes for the diodes 1N4004 are too small Can be repaired by drilling bigger holes and solding the diodes on both sides e The power jack has the positive pin disconnected Solved with a bit of tin covering both the connected pin hole and the positive pin hole e The silkscreen of the connector for the 24V input is wrong it has a du plicated 12VIN instead of 24VIN Solved with a marker pen The relay hole distribution has the two rows of pins too far apart More over the coils had positive and negative pins and was not well docu mented in the datasheet so the coil pins are swapped Solved by manu ally separating the pins of the relays and extending the coil pins and se curing the relays with termoadhesive A second better approach would have been to solder all components on the other side of the board e Sometimes the relays do not activate correctly and or the external ra dio emitter for the DGPS interfere with them and turns them off Even 66 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org though the calculations have been based on the components specifica tion R14 and analogous have been reduced to 5K49 for ensuring that enough current passes through the relay s coil 5 6 Wrist
77. stem s be haviours i e how the system operates under certain conditions The RCT BehaviouralViewpointModel obtained Fig 6 3 instantiates the concepts and relationships in the Perspective and the ASysPerspective Packages The dif ferent roles played for the concepts in the model are shown in each one of the relationships which are given the same name as in the original package In turn the FunctionalViewpoint focus on the analysis of an autonomous sys tem s functions as desired or expected behaviours The RCTStructuralView pointModel Fig 6 4 instantiates the Perspective and the ASysPerspective Packages ontological elements focusing on the functional aspects to consider for the RCT In this model the RCTFunctionalView is a View formalises as ASLab org Higgs Manual R 2010 008v 0 1 Draft 77 of 97 RCT system A viewpoint RCTBehaviouralViewpoint Eg viewpointName String Eg purpose String Eg viewpointConcern String Za in view EY a E j viewpointStakeholder String MERA concern viewpoint A e Eg language String Eg method String RCTBehaviouralView 0 1 conformsTo 0 1 usedToCover RCTBehaviour Figure 6 3 RCT BehaviouralViewpoint Model a RCTFunctionalModel which is the EngineeringModel consisting of differ ent function related models obtained as outputs of the FunctionalModelling subtask
78. strumentation voltage Pin5 Laser pitch potentiometer Pin6 Motor current Pin7 Motor voltage Pin8 Accelerometer X axis Pin9 Not used Pin10 Not used Pin11 Analog Accelerometer Y axis Pin11 Digital Not used Pin12 Not used Pin13 Laser pitch servo Pin22 Min pitch switch Pin23 Max pitch switch Pin24 Not used Pin25 Compass Pin26 Not used Pin27 Not used Ribbon Power board Table 5 1 Connector correspondence of the Arduino extension board with the devices 56 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org 1 The potentiometer is prone to errors due to mechanical hystheresis worn out and temperature effects 2 There is a lot of functionlity that can be more useful than controlling the pitch of the laser The effort has been so displaced elsewhere 3 A better pitch angle sensor such as an optic encoder would justify buy ing a whole controlled actuator with integrated sensing and electronics 4 The kinect sensor can partially substitute the laser 5 4 2 Power board The I O board and the power board have been connected with a ribbon cable that plugs to the doble row of pins of the extension board in the side of the I O board The ground connection has been stripped as the correspondent pin is not connected to ground in these pins Common ground with the rest of the robot is achieved through the power connections that come from the batteries Figure 5 2
79. t but the order in which it does it is not the same on each bootup so the serial device links must be checked on each bootup with this setup The mod ules are the FTDI driver ftdi_sio ko and the pl2303 driver p12303 ko This inconvenience has been avoided by moving the kernel file objects from their standard placement at 1ib modules to etc higgs modules The kernel tries to load the modules but fails because it can not find them where it expects them to be The modules are loaded with the init scripts in a de termined order The following commands as root can be used to set up this behaviour on new installations cd etc init d echo bin sh gt load serial modules chmod atx load serial modules echo insmod etc higgs modules p12303 ko gt gt load serial modules echo insmod etc higgs modules ftdi sio ko gt gt load serial modules ln s etc init d load serial modules etc rc3 d S601oad serial modules Replace rc3 d with the runlevel the OS starts with You may instead prefer to modify the init script skeleton and give more functionality such as removal of the modules using the standard init V procedure such that loading and un loading the modules is done with load_serial_modules start stop ASLab org Higgs Manual R 2010 008v 0 1 Draft 51 of 97 Daemon scripts The onboard portable computer is running many of the CORBA modules under Linux The base operating system has been modified slightly
80. t none of them disables it The automatic switches are remotely controlled through the Arduino module 4 3 Basic maintenance There is little maintenance to do with the robot The batteries are the most important matter to be aware followed by the wheels 4 3 1 Wheels Once every two months or so the wheels will loose pressure and they must be inflated evenly this way the odometry will not loose precision It can be noticed when the wheels have deinflated by looking to the tread pattern Two separate bands of moist will indicate underinflation one on the middle overinflation and correct inflation when moist is evenly distributed There is a manual pump with manometer in the cabinet 4 3 2 Battery management The robot has 3 battery packages One of them is inside the Pioneer2AT8 the other one powers the radio receiver for the differential GPS and the last one is embedded in the laptop Robot base lead batteries There are three lead battery packages inside the Pioneer2AT8 that powers the motors the internal electronics and the external power board To access them lift the small black lever on the back side of the robot and turn it to the left This will loosen the battery door Open it to 135 You may have to pull the door up to get the door over the bump sensors Once it is open ASLab org Higgs Manual R 2010 008v 0 1 Draft 33 of 97 Laptop On board gt USB __ USB to RS232 Battery computer hub x3 converter
81. tatus command may be issued to detect this anomaly and a special status code will be sent by the wrist The CORBA servant code is Note that even though the manufacturer calls this device a powercube internally we call it wrist ASLab org Higgs Manual R 2010 008v 0 1 Draft 69 of 97 5 7 Laser aware of this fault and will abort execution to allow to complete device reset outputting a log and leaving the restart of the servant to the VAIO utility programs This fault can be prevented by periodically reading the voltage sensor value from the I O board the Arduino CORBA servant Overcurrent The internal current sensor will stop the axis when an overcurrent is detected or a low voltage condition is met if the 12V to 24V converter can not supply enough power In this case a reset and homing procedure is needed before continuing operating the unit The maximum speeds and accelerations before the fault are saved and restored after the reset and homing procedure but not the position Device not found This error may arise if the device is powered off if the serial port is not ac cessible or can not be found or if the serial cable is not correctly connected In this case the servant will die and get restarted automatically by the init scripts The data cable is a serial one prepared for RS 232 and RS 422 communica tions There is a jumper on the end connector to select which of the protocols to use With the jumper RS 422
82. tem s requirements can be of different types physical functional performance interface design as defined in the Requirement Package An initial requirement analysis made by the RCT developers identified the Functional Requirements for the RCT where this concept has been de fined as a requirement that specifies an operation or behaviour that a system must perform in OASys Primary FunctionalRequirements for the RCT are to navigate as well as to survive The navigation requirement is captured by means of the UseCase Nav igation which includes the secondary FunctionalRequirements of being able to explore the environment identify elements in the environment and to avoid obstacles These requirements are captured in the Usecases ASLab org Higgs Manual R 2010 008v 0 1 Draft 79 of 97 of EnvironmentExploration Identification and ObstacleAvoidance re spectively Fig 6 6 In turn the FunctionalRequirement of surviving is captured in the Survival UseCase which includes the SubsystemFailure and Recharge UseCases Fig 6 7 HRCT H Navigation 9 4 A appliedTo subject useCase extend H AutonomousNavigation useCaseMain include include include usecase 0 1 usecase EH EnvironmentExploration E ObstacleAvoidance m usecase 9 1 E Identification m 0 1 include 9t participatesIn participatesIn 0 1 participatesIn x E ReactiveMovement i x useCaseActor H EnvironmentObject
83. the control of the robot the execution of complex navigation operations and additional communication operations Taking into con sideration several requirements and operational constraints defined in a GENE 6330 was chosen Related to software the onboard com puter uses Linux as operating system as well as having a real time software RTAI and RT CORBA server e Laser itis a laser scanner for mobile robotics applications placed at the front part of the robot panel e Wrist it is a 2 DOF high precision and torque actuator for orientation of the camera It is attached to the laser e Camera it is a stereo camera that will be used as the robot s vision system attached to the wrist e Radio itis a radio system for DGPS ASLab org Higgs Manual R 2010 008v 0 1 Draft 15 of 97 Figure 2 2 Pioneer 2 AT8 Higgs with onboard systems 16 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org e Laptop itis a lightweight high functional laptop e GPS itis a high performance GPS system 2 1 3 Supporting Systems Along with the base platform and the onboard systems Higgs includes some additional supporting systems to complete its functioning 1 Wireless Network it is an additional subsystem included in the testbed to allow the communication with the wireless local network in the ASLab laboratory It consists of a wireless card placed in the onboard com puter an antenna necessary as the wireless card is
84. tion Constraints Assumptions Alternate Flow of Events Change history 2009 01 13 created CH Open issues doubtable formulation is this a UC ASLab projects ICEA UC0101 ICEAsim Free slots Figure 6 12 UseCase Detailing Subtask for the Navigation requirement Nam Survival Figure 6 13 UseCase Detailing Subtask for the Survival requirement ASLab org Higgs Manual R 2010 008v 0 1 Draft 83 of 97 An additional Task in this Phase is to characterise the autonomous sys tem s requirements to obtain a RequirementCharacterisation as defined in the ASys Engineering Process Package of the ASys Engineering Sub ontology The taxonomies of concepts considered in the ASys Require ment Package can be described specifying a condition a requirement criterion and a possible threshold As a result a Process Characterisation and a System Characterisation in the form of a textual description 6 3 RCT ASys Analysis Phase As part of the ASys Analysis Phase consists of differents Tasks such as Struc turalAnalysis BehaviouralAnalysis and FunctionalAnalysis The differents tasks have been carried out for the Robot Control Testbed as described in follow ing sections Structural Analysis The StructuralAnalysis Task pays attention to the system under analy sis from a StructuralViewpoint i e the analysis considering the system s structure in terms of subsystems and elem
85. to run in an unattended fashion Modifications made to the onboard computer e usr bin gnome power manager has been renamed to usr bin gnome power manager disabled This allows for the computer to run while it is on batteries and the screen is down Other wise the Vaio goes into suspend mode and no process can execute To read the battery life do cat proc acpi battery BAT1 stateoracpi b e etc init d The servants are configured to be managed by upstart The config files determine which modules to load when to restart and where to redirect the output logs See section 5 3 2 for detailed de scription restart servants It is possible to restart the servants by pressing the eject button on the Vaio even with the lid down This button will generate an ACPI event that will be processed by acpid using the configuration file restart_servants conf which in turn will call restart servants sh that will force the termination of the servants which will be restarted by upstart The configuration and script files go respectively under etc acpi events and etc acpi actions e The output of the commands are redirected to var log higgs PROGRAM log Any problem associated to the ex ecution of the modules may be diagnosed inspecting the logs in var log higgs where all the output from the programs is registered These files may grow big so it has been created a logrotate config file for them higgslog placed in etc logrotate d
86. ts Check figure 5 13 for a visual description of the connectors The connector for the ribbon cable has the pinout indicated by table 5 3 The connectors for the devices are Molex MiniFit RS references 670 5717 PCB male 679 5776 female 172 9134 terminals 5 5 2 Electric interface The ribbon cable connector has 10 pins Starting from pin 0 these are ground the six 12V channels and the three 24V channels The channels are shut down writing a logical 0 OV to the corresponding pin whilst a 1 5V a high impedance or a no connection will allow for the channel to be powered on Both manual and remote switches must allow for the channel to be powered on for having that channel powered Originally there was a lead battery pack for powering the devices on top of the robot base This power jack connector is no longer neccessary as the robot base has its own power jack connector for charging the batteries 64 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org Channel Ribbon cable pin Voltage Device 0 Ground common 1 12V Not used 2 12V Arduino Extension Board sensors 3 12V Servo 4 12V Kinect 5 12V GPS receiver 6 12V Binocular Camera 7 24V Laser 8 24V Wrist 9 24V Not used Table 5 3 Distribution of devices in the channels ENABLE CONTROL D28 SW IN Ki 1N4004 CT 1 5u o SWITCH 1X2 7
87. two USB ports and one FireWire port among others The FireWire port is used with the binocular camera The arduino GPS laser wrist and robot base all use serial RS 232 communication which is achieved using USB to RS 232 converters There is a hub behind the power board with 4 USB ports to where the converters are plugged either directly two of them with a short USB cable i e the GPS or has the converter chip embedded inside the device i e the data acquisiton board There is a lack of one serial converter for having all five devices working at the same time Be sure to reconfigure the serial ports at etc higgs devices when changing the connected devices see 4 5 3 5 2 2 Real Time Operating System This section describes the steps that have been made for building and in stalling the Ubuntu RTAI operating system 1 Download and burn Ubuntu 10 04 LTS Desktop Edition then install it like a standard Ubuntu installation The Long Term Support surname guarantees that this version will be supported for 3 years 2 Install these packages libncurses dev build essential kernel package linux source They are needed for building the kernel and generating a debian package 3 Download and uncompress the vanilla linux kernel 2 6 32 11 The ver sion must much exactly so the RTAI patch can be applied smoothly The linux kernel sources can be downloaded from http www kernel org ASLab org Higgs Manual R 2010 008v 0 1 Draft 49 of 97
88. will fully discharge the batteries in this time damaging them GPSD radio battery There are two radio batteries one for the GPS base station and the other for the GPS mobile station Both batteries are interchangeable and are 8x9x23cm in size with a black leather cover Ni MH batteries have memory effect so ASLab org Higgs Manual R 2010 008v 0 1 Draft 35 of 97 you must discharge them completely before charging them again There are two chargers you may found them in the yellow suitcase in the F room or in a white long box next to the suitcase Remember that the F room is the name for the ASLab cabinet in the computer rack room To charge it open the battery tab and connect the charger Press the button for discharging it fully then wait until the charger finishes the operation Detailed instructions are printed on the charger Figure 4 17 GPSD radio charger VAIO laptop battery The VAIO laptop manages automatically its own battery You may check its status with the command acpi b On linux RTAI ACPI is not supported by the kernel and it will not work so this command is unavailable Figure 4 18 VAIO laptop charger 4 3 3 Diagnostics Power There are several indicators of malfunction that can ve verified in case the robot does not work properly In the first place look for correct power in each device This is how you can check it 36 of 97 R 2010 008 v 0 1 Draft Higgs Manual ASLab org
89. y integrated Serial number B3844 amp B3844 Purchase date Physical Characteristics Dimensions 165x70x160 mm aprox Weight 1 8 kg axis2 appendix attached to laser support Physical inka axisl appendix camera is attached here Informational links In amp Out RS 232 Power 24 VDC nomical power current 4 A per axis Sensors 1 encoder per axis KE Nominal torque 12 Nm axis1 2 Nm axis2 Algle of rotation 120 axis1 360 axis2 Resolution 5 axis 6 axis2 Tech doc ASLab org Higgs Manual R 2010 008v 0 1 Draft 23 of 97 3 2 7 GPS RCT Identifier RCT GPS RCT Name GPS Description high performance GPS system Functionality role GPSd Model OEMV 2 RT2 State ready to install Serial number Purchase date 2007 Physical Characteristics aa al nd Physical links 1 USB connected to laptop Informational links 1 RS 232 422 1 CAN bus not used Power 1 6W typ 12 VDC Accuracy Features Accesories RCT radio Antenna Tech doc 3 2 8 Power Board RCT Identifier PowerBoard RCT Name Power Board Description A simple board for controlling power to other devices Functionality role Power board State Fully operative Serial number Manufacturing date October 2009 Physical Characteristics Dimensions 260x86x16 mm Physical links Attached to the front of the Vaio support Ribbon cable attached
90. ype gt lt xs element name video_rgb type robotVideo_rgb gt xs simpleType name robotVideo_rgb gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read write lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt video_width lt ID gt lt propertyDataType gt lt xs element name video_width type robotVideo_width gt xs simpleType name robotVideo_width gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read write lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt video_trans lt ID gt lt propertyDataType gt lt xs element name video_trans type robotVideo_trans gt xs simpleType name robotVideo_trans gt xs restriction base xs int gt lt xs simpleType gt lt propertyDataType gt lt mutability gt constant lt mutability gt lt modifiability gt read write lt modifiability gt lt subscribeability gt false lt subscribeability gt lt primaryKey gt false lt primaryKey gt lt property gt lt property gt lt ID gt laser_trans lt ID gt lt propertyDataType gt lt xs

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