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A. Volksbot - a flexible componentbased mobile robot system

VolksBot-A?exible component-based mobile

robot system

Thomas Wisspeintner,Walter Nowak,Ansgar Bredenfeld

Fraunhofer Institute for Autonomous Intelligent Systems(AIS),

D-53754Sankt Augustin,Germany

{thomas.wisspeintner,walter.nowak,ansgar.bredenfeld}@ais.fraunhofer.de, WWW home page:http://www.ais.fraunhofer.de

Abstract.In this paper we present a component-based framework for

rapid prototyping of mobile robots for research,education and appli-

cation.The VolksBot construction kit addresses the rising demand for

reusability in software,electronic hardware and mechanics by o?ering

open and clearly de?ned interfaces as well as standardized components

in all three?elds.We show the versatility of the concept by applying it

to di?erent domains,particularly RoboCup Middle Size League as well

as the Rescue scenario.

1Introduction

Participating in RoboCup Middle Size League since1998,we constructed six generations of di?erent mobile robot platforms.Like many other teams we faced several problems related to specialized system development,time-consuming maintenance and high?uctuation of people combined with loss of knowledge. With this experience in mind,we started the VolksBot project[1]in September 2002.The goal of the project is to create a scalable,cost-e?ective and robust robot construction kit for advanced research experiments,education as well as for e?ective prototyping of applications.

Prominent examples of already existing robot construction kits used in ed-ucation are Lego Mindstorms[2],Fischertechnik Mobile Robots[3],Tetrixx[5] or the Cube System[4].Although aspects of modularity are addressed by these systems,they are limited in complexity since the building blocks are simple and focus on miniaturization.On the other side,several robot platforms of higher complexity are usually specialized for a certain?eld of application like indoor or outdoor[6][7][8]or do not follow a construction kit approach.An interesting exception is an approach presented in the MoRob project with a focus on edu-cational robotics[9].In this paper,we present the VolksBot concept by showing its usage in the RoboCup domain.

2The VolksBot Concept

VolksBot is a?exible and modular mobile robot construction kit.The component-based approach o?ers a plug-in architecture with open interfaces in mechanics,

electronic hardware and software.Quick integration of own modules combined with reuse of existing ones foster application-speci?c but e?ective system de-velopment.An example of a VolksBot indoor platform is depicted in Figure1.

Fig.1.Example of an indoor VolksBot platform

2.1Mechanical Design

To obtain a high grade of?exibility we set up some design criteria for the robot’s body construction.Among these are:

–Usage of standardized parts

–Light-weight but rigid construction

–Easy modi?cation

–Quick access and easy exchange of components

Regarding these criteria,we decided to use aluminum machine construction ex-trusions(x-pro?le)and proper connectors to build up the robots main frame. Size and shape of the body can be adjusted individually to the needs by sim-ple mechanical processing.All sides of the x-pro?les can be used to connect to additional elements.This enables all hardware components to be connected to the main frame.Therefore only geometrical dependencies between the compo-nent and the main frame occur,not between the components themselves.Figure 2shows,how di?erent components,like a battery,a motor-controller and the holonomic drive can be attached to the main frame.The mounting positions of the components are variable.

III

Fig.2.CAD model of a VolksBot main frame with attached components including holonomic drive

2.2Hardware Components

A set of basic hardware components consisting of processing unit,actuators and sensors is described here.A standard notebook or an embedded PC is used as the robot’s central control unit.

The motor-controller TMC200is connected via serial interface to the control PC.The controller o?ers odometric data analysis,thermal motor protection, battery voltage monitoring,PID-control of velocity and current for three DC-motors up to200W power.The drive units consist of a DC-motor,a scalable planetary gear and a shaft encoder being attached to the supported wheel shaft via a damped coupling.The entire unit is encapsulated in an aluminum block which can be attached at di?erent positions on the main frame.

The catadioptric vision system AISVision includes an IEEE1394CCD camera and a hyperbolic mirror as shown in Figure1.Before construction,the system was designed entirely in simulation using ray-tracing software.In an iterative process,all relevant geometry parameters of the system were optimized for the use on a RoboCup Middle Size?eld.These include height of the mirror with re-spect to the camera,height of the entire vision-system above the ground,diame-ter of the mirror,focal distance of the camera and especially the two parameters a and b of the mirrors hyperbolic surface equation

z2 a ?

=1(1)

with r being the radius and z the dimension along the optical axis.The criteria for this optimization were full visibility of all landmarks from any position in the ?eld,including goals and corner-posts,and a good visibility of the close region. The rendered and the real camera image are depicted in Fig.3.The optimization can be repeated for any other scenario with the described method.

2.3Software Framework

Also in software a clear framework concept with well-de?ned components is being used.The aim is to provide easy access with a low entry level via an intuitive pro-gramming interface,similar to systems like Lego Mindstorms and Fischertechnik.

https://www.wendangku.net/doc/1017773030.html,parison between simulated(left)and real(right)camera image

At the same time it should be possible to use native computer languages like C++to implement also sophisticated algorithms.Further demands are:

–Direct and stable hardware access

–Library of existing functionality

–Easy integration of own algorithms

–High performance and real-time capability

–Structured architecture

–Custom GUI building

ICONNECT[10],a professional software framework by Micro-Epsilon special-ized on signal processing and industrial system automation ful?lls these demands well.Other similar software packages such as Simulink[11]or Labview[12]are vi-able,but fail in some aspect like real-time capability or hardware independency. The underlying principle of ICONNECT are signal graphs built up with inter-connected modules.A simple example of a signal graph used for robot control is depicted in Figure4.These graphs provide a well-structured representation for

Fig.4.A simple ICONNECT signal graph for robot control including camera interface, image visualization,image processing,robot behavior and motor control

system control and help to bridge the gap between easy access and high scal-ability by o?ering di?erent levels of abstraction,ranging from parametrization

V and visual composition of signal graphs to coding of user-speci?c modules.The execution of such graphs is handled by ICONNECTs scheduler which provides real-time capability under Microsoft Windows.Di?erent graphs can be executed without recompilation,supporting an iterative development process and rapid prototyping.In Figure5the ICONNECT programming environment is depicted, including an example of an easy to build graphical user interface.

Fig.5.ICONNECT GUI with signal graph(top),visualization of sensor data(left),a user cockpit(center)and the module library(right)

Several ways to implement new functionality exist in ICONNECT.Besides visual composition of modules and building hierarchies by macro modules,com-pletely new modules can be written in several programming languages ranging from integrated script code over Visual Basic and Perl up to native C++.Such a module is an encapsulated software component,having a well-de?ned interface specifying the type of in-and outgoing data.Technically it is implemented as a dynamic library which is loaded and instantiated at runtime,independently from other modules.In order to emphasize the notion of an independent,en-capsulated and ready-to-use component,each module is associated with a help page,example graph and an individual set of parameters.ICONNECT o?ers pre-de?ned modules in a module library,covering areas like signal processing, image processing or hardware IO.We extended the ICONNECT module library by providing robot-speci?c software modules.In such a way integrated function-ality,even when coming from very di?erent backgrounds and sources,can work together in one system in a compatible manner.Thus the software framework acts as a means for standardization.

We already implemented several modules in the domain of robotics,reaching from simulation based on the ODE engine[13]and Matlab over image processing with OpenCV[14],interfaces to CAN-bus and IEEE1394to RoboCup related

behavior.With this method,we constantly add reusable functionality to the existing module-pool.

3Volksbot in RoboCup Middle Size League

In the beginning of2004an international student-team(AIS/BIT)using Volks-Bot was built up under guidance from AIS Fraunhofer to participate in RoboCup Middle Size League.The modular concept of VolksBot supported this interna-tional collaboration and is elaborated in the following.

The main demands on Middle Size League robots are quite di?erent from other scenarios,requiring higher dynamics,superior motion control and real time color vision.To meet the demands set by this special scenario,the team had to introduce only a few additional plug-in components to the existing system.Some of them,like AISVision or our motor-controller TMC200have even been used by other Middle Size teams for their own robots.Since the goal keeper has a di?erent role in the game than the?eld players,it motivates a special design with larger main frame and di?erent orientation of the kicking device.Reusing already existing hardware components,this variant could be build up within very short time.

All of these modi?cations in hardware required only minor software changes due to the component-based structure of ICONNECT.As each hardware compo-nent is directly related to one module,only the module itself had to be changed, without a?ecting the entire system.This also holds true for the behavior archi-tecture itself,where we focused on the use of Dual Dynamics[15],an architecture based on dynamical systems.The DD-Designer[16]tool was extended to directly generate ICONNECT modules,which made the behavior become an easily in-terchangeable component.

An important aspect of the development process is simulation.A module incorporating physical simulation of robots based on the ODE engine was devel-oped.It has the same interfaces as the hardware,so the development of behaviors can be done without any special treatment,just by replacing the simulator with the corresponding hardware access modules in the graph.This modular concept makes it much easier for new students to get an overview of the system and to be-come productive,as the number of dependencies between modules is minimized and made explicitly by the module interfaces.This eases also ongoing coopera-tions with other research groups and universities.After specifying few module interfaces,the spatially distributed groups could work on di?erent modules with minimal integration issues.Similar results regarding successful teamwork were also achieved in RoboCup Real Rescue described in the next section.

4RoboCup Real Rescue and Outdoor

In2004,the idea had risen to extend the VolksBot concept,which until then had been purely used for indoor robots,to?t to the needs of rough terrain including the Real Rescue scenario and outdoor.As a consequence new demands have to

VII be set on the system including high payload,mobility,ground clearance and rigidity.A Universal Drive Unit was developed enabling us to build new variants of VolksBot for rough terrain,the new VolksBot RT.

Within only3weeks,including development of this unit,manufacturing of parts and?nal assembly,a six-wheeled version of the VolksBot as depicted in Figure6was ready to use.This is due to the fact that we mainly reused existing VolksBot components combined with available standard parts.Only four di?er-ent parts had to be machined to build up the Universal Drive Unit.Equipped with two150W DC-motors the robot is able to climb a slope of43degrees and has a maximum speed of1.3m/s.As the motor gears can be exchanged as eas-ily as for the indoor version,the maximum speed can be adjusted according to the demands.With little e?ort di?erent variants in size and wheel con?guration of the VolksBot RT can be built.This6-wheeled version of VolksBot RT was

Fig.6.6-wheeled and4-wheeled version of VolksBot RT

used as base platform at the RoboCup Rescue Workshop2004in Rome.There, within15hours of lab-activities,two groups of three and six persons-with no prior experience of the system-worked together to build a functional rescue robot with autonomous behavior which has been demonstrated at the end of the workshop.The task of one group was to build up the entire control system on the robot including signal processing of laser-scanner data,image-processing, compression and WLAN transmission of the AISVision image stream,interfaces for tele-operation,autonomous behavior and motor control.

An obstacle-avoidance method was modi?ed to achieve the desired behaviors like general obstacle avoidance,”left-and right-wall following”or”centering between the aisle”.The task of the other group was to build an interface for the operator including visualization of the robots state,camera image and laser-scanner radar.Further on it was required to set the robots state e.g.from manual to autonomous and build an interface to joystick and throttle for proper tele-operation.

VIII

The two groups worked together well,?rst de?ning the interfaces then test-ing the results iteratively.In summary the VolksBot concept of rapid system development resulted in a running system within very short time.

5Conclusion and Future Work

In this paper we have presented our approach to foster re-usability and sys-tematic construction of hardware and software components for mobile robotic systems.Since we concentrate on the concept and not on a single platform, we o?er much freedom in the actual design of the robot.This was e?ectively demonstrated in RoboCup where the VolksBot concept was put into practice in Middle Size League as well as in Real Rescue.It supports research by re-use and exchange of existing components and therefore gives more time and opportuni-ties to concentrate on innovative development.The already existing VolksBot module-pool will be further extended and shared with the growing community. Further on didactic material is being collected,so lecturers can exchange their course material with others to minimize their preparation time.We will con-tinue to build up new variants based on this concept and widen the range of applications,with a special focus on outdoor and navigation.

References

1.AIS Fraunhofer:Volksbot.http://www.volksbot.de

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Beyond:Evolution of a Construction Kit for Magical Machines.Robots for Kids: Exploring New Technologies for Learning Experiences00(2000)

3.Fischertechnik:http://www.?schertechnik.de

4.Birk,A.:Fast Robot Prototyping with the CubeSystem.Proc.ICRA04(2004)

5.Enderle,S.,Sablatnog,S.,Simon,S.,Kraetzschmar,G.:Tetrixx-A Robot Devel-

opment Kit.Proc.First International Workshop on Edutainment Robots00(2000)

6.Evolution Robotics ER1:https://www.wendangku.net/doc/1017773030.html,/er1

7.ActiveMedia:Pioneer.https://www.wendangku.net/doc/1017773030.html,/ROBOTS/p2dx.html

8.K-Team:Koala robot.https://www.wendangku.net/doc/1017773030.html,/robots/koala/index.html

9.Gerecke,U.,Hohmann,P.,Wagner,B.:Concepts and Components for Robots in

Higher Education.Proc.WAC04(2004)

10.Mandl,R.,Sick,B.:Messen,Steuern,Regeln mit ICONNECT.(2003),ISBN:

3528058129

11.The MathWorks,Inc.:Simulink Users Guide.(2004)

12.Kalman,CJ.:LabVIEW:a software system for data acquisition,data analysis,and

instrument control.J Clin Monit95(1995)51–58

13.Smith,R.:Open Dynamics Engine User Guide.(2005)

14.OpenCV:https://www.wendangku.net/doc/1017773030.html,/projects/opencvlibrary

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tonomous robots.Arti?cial Life and Robotics(1998)108–112

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ICRA01(2001)

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将画面连接变量，根据本文演示制作如下画面：现在我们就完成了基本的步骤。

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西门子触摸屏软件Wincc flexible 使用总结Wincc Flexible使用: 1. 退出系统的命令是Stopruntime。 2. 尽量不要用超级兔子或优化大师清理注册表和系统垃圾，因为会有S7和Flexible的文件一起被清楚掉，这样容易造成使用故障，如组态错误或不能下载，卡巴斯基也不用。 3. Flexible的键控的触摸屏中K键是全局键，其设置要在模板里设置。 1. 使用按钮时，注意: A:颜色变化 B:功能实现 C:对应的按键 2:要使用按钮的动画中的可见性选项，需要设置此变量类型为位0，不行的话就设置为整型。 4. 要想在触摸屏处于运行状态时下载程序，需要在Romate control旁打勾。 5. 可以通过DP口写触摸屏(连到MPI上)的程序，不要这时要启用路由功能。 6. 触摸屏可以通过DP传输，在硬件里组态到MPI上面，实际连接到DP口，编程线也接到DP口上，下载即可，不要启用路由功能。 7. M变量只有释义后才能在Flexible中看到。 8. 如果在编译时出现“无效参数”或类似的查不出原因的错误，就在菜单-----选项里选择删除临时文件，就可以解决这个问题。

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