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Microsoft Robotics Studio

Microsoft robotics studio is a Windows-based environment for creating robotics applications across a wide variety of hardware. AGEIA PhysX SDK and runtime enables hardware acceleration through the AGEIA PhysX processor. Support for C#, VB.NET, Python and VPL (Microsoft Visual programming language)

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44 views14 pages

Microsoft Robotics Studio

Microsoft robotics studio is a Windows-based environment for creating robotics applications across a wide variety of hardware. AGEIA PhysX SDK and runtime enables hardware acceleration through the AGEIA PhysX processor. Support for C#, VB.NET, Python and VPL (Microsoft Visual programming language)

Uploaded by

enggar
Copyright
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We take content rights seriously. If you suspect this is your content, claim it here.
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Microsoft Robotics Studio

Mihai Fonoage [email protected] Mirela Marta [email protected] Center for System Integration Computer Science and Engineering Florida Atlantic University
Copyright 2008 Center for Systems Integration, Florida Atlantic University.

Abstract
Scalable and extensible Robotics Development Platform Lightweight services-oriented runtime Support for C#, VB.NET, Python and VPL (Microsoft Visual Programming Language) Supports a variety of robot platforms

Microsoft Robotics Studio Introduction


Windows-based environment for creating robotics applications across a wide variety of hardware. Features and benefits:
Visual programming tool (VPL) Service-Oriented Runtime
Message-based architecture

Scalable and extensible platform


Remote (PC-based) and robot-based (autonomous) execution scenarios

Runtime

Requirements:
Handling of sensory input and controlling actuators done concurrently Orchestration has the role of connecting all the pieces together. Components can be distributed and made accessed over the network.

Runtime (cont.)
MS Robotics Studio Runtime provides:
Concurrency and Coordination Runtime (CCR)
enables coordination of messages without the use of manual threading, locks, semaphores, etc. based on asynchronous message passing provides an execution context for services including a set of high-level primitives for synchronizing messages.

Decentralized System Services (DSS)


provides a service hosting environment provides a set of basic services facilitating tasks such as:
debugging, logging, monitoring, security, discovery, and data persistence.

Simulation
Simulation Runtime Components:
Simulation Engine Service
Responsible for:
Rendering entities Progressing the simulation time for the physics engine.

Tracks of the entire simulation world state Provides the service/distributed front end to the simulation.

Managed Physics Engine Wrapper


Abstracts the user from the low level physics engine API Provides a more concise, managed interface to the physics simulation.

Simulation (cont.)

Simulation (cont.)
Simulation Runtime Components:
Native Physics Engine Library
Enables hardware acceleration through the AGEIA PhysX SDK and runtime.
supports hardware acceleration through the AGEIA PhysX processor.

Entities
Represent hardware and physical objects in the simulation world. MSRS has predefined entities.

Simulation (cont.)
Simulation Programming:
Two software components are involved for simulating a physical component and its service:
Entity
Interfaces with the physics engine and the rendering engine. Exposes the appropriate high level interfaces to emulate hardware and hide the specific use of physics APIs.

Service
Uses the same types and operations as the service it is simulating. Provides the distributed front end to the entity, just like robotic services provide the front end to robot hardware.

Microsoft Visual Programming Language


Application development environment. Designed on a graphical dataflow-based programming model. Well suited to programming a variety of concurrent or distributed processing scenarios. Not limited to programming robots and could be applied to other applications

Case Study 1: Increment and Count

Case Study 2: Driving a Robot around a Simulated World

Case Study 2: Driving a Robot around a Simulated World (cont.)

References
Microsoft Robotics Studio http://msdn.microsoft.com/robotics/ A Robot in Every Home, by Bill Gates http://go.microsoft.com/?LinkID=5950849

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