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Object Transportation System Using LEGO Mindstorms RCX Term project for CSC714

Object Transportation System Using LEGO Mindstorms RCX Term project for CSC714. David Boyuka Vishnu Dasa Harish Babu. Problem Statement. Objective: transport objects from “input bins” to the “output bin”, under various real-time constraints

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Object Transportation System Using LEGO Mindstorms RCX Term project for CSC714

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  1. Object Transportation System Using LEGO Mindstorms RCXTerm project for CSC714 David Boyuka Vishnu Dasa Harish Babu

  2. Problem Statement • Objective: transport objects from “input bins” to the “output bin”, under various real-time constraints • Single delivery vehicle, circular track, unlimited object capacity • Real-time constraints: • Periodic tasks for input bin checking (deadline = period) • Sporadic task released when object(s) are picked up, with deadline specific to each bin

  3. Real-Time Challenges • “Typical” approach to scheduling is naïve • WCET can be bounded more tightly by incorporating current location and distance to bins • Sporadic tasks for object delivery aren’t “typical” • All objects are delivered at once, no separate WCETs

  4. Our Algorithm Idea • Incorporate “lookahead” by calculating slack remaining after a move • Slack = deadline – (WCET given current location) Example: • Bin check time = 1sec • If check C then B, B’s deadline is missed • But, if check B then C, success • Slack check algorithm finds negative slack for B if we check C then B, so it decides on the correct strategy (B first) Deadline = 9 B 3 sec 3 sec Deadline = 8 A C Train here at t = 0

  5. Progress and Todo List Done: • Physical construction is complete • Vehicle movement, “bin checker” arm, object dumper, location sensor, object pickup sensor • Low-level code and scheduler interface complete • Some prototype scheduling algorithms coded Todo: • Finalize scheduling algorithms we want to compare • Use various test scenarios to evaluate/showcase algorithms

  6. Problems Faced • Light sensor was not sensitive enough for an object pickup detector. We switched to using a rotation-sensor-based mechanism. • Much difficulty calibrating touch sensor to read station markers on track. Also, our first touch sensor turned out to be broken… • Train derailed itself until we found the correct speed • Algorithm design tricky because some assumptions are different than in the RT systems we have studied

  7. Demo

  8. Thank you

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