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

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

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

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

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

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

7. Operational Employment Diagram Introduction Goals Problem Possible Solutions

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

9. Development Employment

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

11. Analytical Employment Diagram

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

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

14. Questions?