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MAS-NET platform Vehicle Platooning

Steven Morales Rosario Robertson Cespedes Naut steven.morales2@upr.edu robertson.cespedes@upr.edu UPRM UPRM August 12, 2011. MAS-NET platform Vehicle Platooning. Outline. Introduction Research Experiment Necessaries Equipment

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MAS-NET platform Vehicle Platooning

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  1. Steven Morales Rosario Robertson Cespedes Naut steven.morales2@upr.edu robertson.cespedes@upr.edu UPRM UPRM August 12, 2011 MAS-NET platformVehicle Platooning

  2. Outline • Introduction • Research • Experiment • Necessaries Equipment • How MAS-Net platform works • Results • Working Equipment and Testing • Detailed Problems and Solutions • Conclusion

  3. Introduction MAS-net - Mobile Actuators and Sensors Networks The MAS-net platform is used to realized testing of vehicle platooning with robots that are designed to follow a given path simulating an highway. The reason for this testing is to implements a trusted and safety Automated Highway System in which a platoon of vehicle will follow a leader and repeat every action that its done. Increasing the capacity in highways and giving the driver an opportunity to rest.

  4. Research Existing Researches on this type of project : • California PATH (Partners for Advanced Transit and Highways) - which have successes in having a fully automated platoon of eight vehicle. • SARTRE (Safe Road Trains for the Environment) - main goal is to develop strategies to allow vehicle platoon to operate on normal public highways. • USU – Been able to develop a full platoon with MAS-motes robots which can perform maneuvers like merging platoon and lane changing to understand the behavior and dynamics of a platoon.

  5. Experiment • Necessaries Equipments • MAS-net Platform with p-GPS integrated camera

  6. Base Stations (computer) New Base Station (left) & Old Base Station (right)

  7. Motes (MicaZ model)

  8. Programming Boards (MIB500AC/MIB520) MIB500CA – parallel port MIB520 – USB port

  9. How MAS-net platform works? The p-GPS camera gives the coordinate of the MAS-mote robot to the RobotCommander application, this application shows the position of the robot and by selecting the desired robot a path can be created by the user specification, clicking in the position he wants to move it. Then the message its sends to the motes by and application called TOSBASE that had being uploaded to another motes and connected to the Base Station. This motes its in charged to send and receive information containing the message to move, turn or stop according to the given path.

  10. Results • Working Equipment and Testing • Motes – Total of 8 MicaZ motes exist on this project, 2 of them with connection problem between battery rack and mote voltage input. Possible errors that can be encountered is short range signal, this can be caused mainly by low voltage input. • Programming Boards – The project consist of 5 programming boards 2 of them the MIB500CA parallel port and 3 of them MIB520 USB port. One of the MIB500CA is not working for connection problems or burned elements. This can de verify by Cygwin when entering the command to check fuses and no port shows any interface connected.

  11. Detailed Problems (TinyOS) Missing files necessaries to do the link between NesC language and Tiny Operating System. Possible Solution: Find the missing files and add them to the correct directory. Change environmental variable to another TinyOS version which contain these files. Real Solution: Install TinyOS latest version on the new Base Station.

  12. Compiling and Uploading errors This error was caused by missing files of the NesC compiler and by wrong environmental path. Possible Solution: Find the missing compiling files and add them to the correct folder. Change environmental variable to another TinyOS version which contain these files. The problem for this solution is that every TinyOS version creates his own specific variables for compiling process. Real Solution: Install TinyOS latest version on the new Base Station.

  13. Warnings regarding tools version used by the TinyOS environment. These warning occurs by all different version of programs that has being installed in the old Base Station. Solution: Search and downloading the version of the tools specified by the warnings after entering the command “tos-check-env”, removing existing versions of the tools and installing the specified ones.

  14. Command “tos-check-env”

  15. Detailed Problems (Cygwin) Numerous copy of different Cygwin versions with folders containing different applications and different TinyOS versions. Solution: Install the latest version of MoteWorks (MoteWorks 2.0F) that come with Cygwin into the new Base Station.

  16. Missing libraries containing components necessaries for compiling process. Possible Solution: Find the missing libraries on another version of TinyOS and adding them into the “tos” directory. Real Solution: Installing Cygwin latest version into the new Base Station.

  17. Detailed Problems (RobotCommander) Numerous executable files of this program and each of them a different version with different commands. Solution: Installing the RobotCommander version which have the platooning command. This wasn’t as easy as its sounds because every installed version have different commands but non of them have this command. For that reason we have to start washing past REU videos until getting to the conclusion that 2010 REU participant have the RobotCommander version we were looking for.

  18. Warnings regarding linkers betweens Hardware and Software. The lack on information on how to compile and install RobotCommander is the main reason why the warning and errors were not solved. Since RobotCommander is not a program created for general use and because it has been worked on for several years, understanding the complete code and how its works is complicated. Its for this reason there exist a lack of information on the internet and external sources.

  19. Detailed Problems (Old & New Baste Station) Numerous copy of programs used to control the MAS-net platform. This copy includes different version of TinyOS, RobotCommander, Cygwin and incompletes installations. Possible Solution: Remove the not used files and leave the files that were recently worked on. Real Solution: Leave those files as backup if any accident happens and install in the new Base Station the files that were recently worked on.

  20. Installation of TinyOS in the new Base Station Failed. The installation of necessaries rpm files as native compilers, TinyOs toolchain and TinyOS source Tree was interrupted by the fact that the Operating System in the new station was a 64 bits architecture and these necessaries files were 32 bits architecture. Solution: Install a new operating system to the new Base Station with 32 bits architecture. The operating system used was Windows 7 32-bits.

  21. Cygwin incomplete installation process. Not normal behavior at the moment of the installation of Cygwin. Most of the files were instantly correctly but at the moment of installing Cygwin the installation process close necessaries applications. Solution: Download and extract the file called “cygwin-files” which can be found at http://docs.tinyos.net/tinywiki/index.php/Installing_TinyOS_2.0.2and install it following the instruction from this installation guide.

  22. Lack of serial and parallel port on the new Base Station There were no port to use the MIB500CA which was the one used in the old base station and the one we were familiar with. For this reason and trying to solve this problem an USB-Parallel cable was bought, after trying to make the USB port transfer the information supposed to done by a parallel port and without any success we decide to use as last choice the MIB520 which use an USB port. After making research on the internet and in help’s forums a command in Cygwin complete the uploading process. The command used was “make micaz install mib510,/dev/ttySx” where x = used port number – 1.

  23. Vision Currently there is a new Base Station ready to compile and upload applications to the MicaZ motes. However, there is still work to be done and this includes: ·The platooning application has to be continuously tested to determine errors and increase efficiency ·RobotCommander needs to be correctly linked and compiled to be properly executed. · The MAS-motes have to be tested to determine how to counteract the error that they present when they’re running through the waypoints established in RobotCommander as some videos show. 

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