Introduction to Microsoft Robotic Studio Prof. Shih-Chung Kang

2 Agenda MSRS overview MSRS runtime MSRS authoring tools MSRS services and resources

MSRS Overview

4 Microsoft Robotics Studio Overview Released Dec 2006 Updated July 2007 Broad industry adoption –150K+ downloads Licensing –Free download for non-commercial users –$399 for commercial licenses Add-on packages –Soccer simulation –Robot sumo simulation –Curriculum lessons “…there is really nothing like this…” Sebastian Thrun, Stanford University

5 Microsoft Robotics Studio Overview A development platform for the robotics community, supporting a wide variety of users, hardware, and application scenarios.

MSRS Runtime

7 康仕仲教授 MSRS Runtime The runtime supports a wide variety of hardware ranging from robots connected directly to a PC (using the serial port, Bluetooth, USB, etc.) to robots that has an on-board PC, to simulated robots that can be manipulated as they operate in a simulated world. Microsoft Robotics Studio Runtime supports a variety of Windows platforms supported by.NET framework as well as Windows CE using.NET Compact Framework.

8 MSRS Runtime.NET framework Concurrency and Coordination Runtime, CCR Decentralizer Software Services, DSS Phyics-Based Simulation

9 Microsoft.NET framework (1/3) The Microsoft.NET Framework provides a large body of pre-coded solutions to common software development requirements, and manages the execution of programs written specifically for the framework.Microsoftsoftware development The pre-coded solutions that form the framework's Base Class Library cover a large range of programming needs in areas including: user interface, data access, database connectivity, cryptography, web application development, numeric algorithms, and network communications.Base Class Libraryprogramminginterfacedata accessdatabase connectivitycryptographyweb applicationalgorithmsnetwork communications

10 Microsoft.NET framework (2/3) Programs written for the.NET Framework execute in a software environment that manages the program's runtime requirements. This runtime environment, which is also a part of the.NET Framework, is known as the Common Language Runtime (CLR). software runtimeruntime environment Common Language Runtime The CLR provides the appearance of an application virtual machine, so that programmers need not consider the capabilities of the specific CPU that will execute the program. The CLR also provides other important services such as security mechanisms, memory management, and exception handling.application virtual machineCPUmemory management exception handling

11 經濟部智慧型機器人控制工程師人才培育班康仕仲教授 Microsoft.NET framework (3/3)

12 MSRS Runtime: CCR (1/4)

13 MSRS Runtime: CCR (2/4)

14 MSRS Runtime: CCR (3/4)

15 MSRS Runtime : CCR (4/4) Concurrency and Coordination Runtime (CCR) provides a concurrent, message oriented programming model with powerful orchestration primitives enabling coordination of messages without the use of manual threading, locks, semaphores, etc. It enables you to design your application so that its software modules or components can be loosely coupled. This approach changes how you think of programs from the beginning of the design process and facilitates dealing with concurrency, failure and isolation in a consistent way. The CCR runtime is a self-contained.NET DLL accessible from any language targeting the.NET 2.0. Common Language Runtime (CLR). 15

16 MSRS Runtime: Robot Model (1/3)

17 MSRS Runtime: Robot Model (2/3)

18 MSRS Runtime: Robot Model (3/3) MSRS Runtime: Robot Model (3/3)

19 MSRS Runtime: DSS (1/3) Decentralized Software Services (DSS) provides a lightweight, service oriented application model that combines key aspects of traditional Web-based architecture (commonly known as REST) with pieces of Web Services architecture. The application model defined by DSS builds on the REST model by exposing services through their state and a uniform set of operations over that state but extends the application model provided by HTTP by adding structured data manipulation, event notification, and service composition.

20 MSRS Runtime: DSS (2/3) The primary goal of DSS is to promote simplicity, interoperability, and loose coupling. This makes it particularly suited for creating applications as compositions of services regardless of whether these services are running within the same node or across the network. The result is a highly flexible yet simple platform for writing a broad set of applications. DSS uses HTTP and DSSP as the foundation for interacting with services. 20

21 MSRS Runtime: DSS (3/3) The DSS runtime is built on top of CCR and does not rely on any other components in Microsoft Robotics Studio. It provides a hosting environment for managing services and a set of infrastructure services that can be used for service creation, discovery, logging, debugging, monitoring, and security.

22 Physics-Based Simulation (1/4) The simulation runtime used in a variety of advanced technologies to help render high-fidelity visualization It integrates of the AGEIA PhysX Technologies enables us to leverage a very strong physics simulation product that is mature and constantly evolving towards features that will be invaluable to robotics. The rendering engine is based on Microsoft XNA Framework, the framework designed for XBox and PC games.Microsoft XNA Framework

23 Physics-Based Simulation (2/4)

24 Physics-Based Simulation (3/4)

25 康仕仲教授 Microsoft Robotics Studio Services Abstraction Services can represent any unit of computation Separates state from behavior –View of state can be customized at point of consumption Resilient/fault tolerant –Discover, create, terminate, and restart software components while the application is running (without a rebooting) Reusable/composable –Services can use/reuse other services as partners

26 康仕仲教授 Microsoft Robotics Studio Services Abstraction Easily accessible/inspectable –Monitor and access software components state while the application is running Distributed –Applications can run locally and across the network (without re-coding) Scalable, portable –Accommodate interaction with a wide variety of hardware and software components

27 康仕仲教授 Microsoft Robotics Studio The Programming Model for The Future Verifiable Composability Loosely-coupled Asynchronous Concurrent Composable Decentralized Resilient Systems Financial transaction processing Scientific modeling Sensor networks Home automation Server management

MSRS Authoring Tools

29 康仕仲教授 Visual Studio

30 康仕仲教授 C# programming language C# (pronounced C sharp) is a programming language designed for building a wide range of enterprise applications that run on the.NET Framework. An evolution of Microsoft C and Microsoft C++, C# is simple, modern, type safe, and object oriented. C# code is compiled as managed code, which means it benefits from the services of the common language runtime. These services include language interoperability, garbage collection, enhanced security, and improved versioning support.

31 康仕仲教授 Visual Programming Language (VPL)

32 康仕仲教授 Visual Programming Language (VPL)

33 康仕仲教授 Visual Programming Language (VPL)

34 康仕仲教授 Visual Programming Language (VPL) App. A App. B App. C App... VPL Programmer Services A Services C Services B Activities A Activities B Activities C

MSRS Services and Resources

36 康仕仲教授 MSRS Tutorials

37 康仕仲教授 MSRS Community

38 康仕仲教授 MSRS Exhibition

39 康仕仲教授 MSRS Partners

Thank you Shih-Chung Kang