iRSP USER MANUAL
Contents
1. z l ruth a E E oP m F _ ee F 7 i ae F ee D comcie 4 Execution You can run the plan with Execute _ You can identify a current control flow with the high light of nodes The initial value of the variable num is 0 and there is no change in the value of the variable Therefore you can watch first condition in the Console View according to the condition of the If node Hey a a P 29 O d e z a r e r E eaa wa a E o 15 Flow Control TYCHE Flow Control 2 3 1 2 FLOW CONTROL 2 SYNC PAUSE 1 Adding a Pause Node Drag a Pause node from the Component View and drop it into the Editor View The unit of input value is millisecond ms and the control flow will be paused as much as you typed in the Pause node E m G F 2 Adding a Sync node Drag a Sync node from the Component View and drop it into the Editor View le Fi ay i E Flow Control 2 16 TYCHE The Control of UPNP Components 3 Only after all control flows to the Sync node arrives the control flow moves to the next node of the Sync node For this example it shows the moment when 1000ms passed after the execution The upper control flow executed the 1000ms waiting pause node and the Sync node is waiting for the control flow from the bottom which is running the Pause node which means 2000ms waiti2. How to Use UPnP 3 2 3 HOW TO USE UPnP 3 2 4 UPnP INTRODUCTION intelligent eee Sensors Appliances a ol Ye Refrigerator Universal Plug and Play UPnP is a standard that uses Internet and Web protocols to enable devices such as PCs peripherals intelligent appliances and wireless devices to be plugged into a network and automati cally know about each other With UPnP when a user plugs a device into the network the device will announce its presence on the network to other devices For instance even though iRSP does not know the address of a device iRSP can access it without any fur ther steps as long as it is on the same network with iRSP UPnP Structure A device consists of one or more services and one service contains one or more actions An action is what does several functions iRSP accesses components using a Control Point Component1 Device f TE E a E a i i IRSP 21 How to Use UPnP TYCHE Practical use of iRSP UPnP Hierarchical Architecture 3 Control 4 Eventing 5 Presentation SOAP GENA HTTP HTML 2 Description HTTP XML 1 Discovery SSDP GENA 0 Address O Level Address Control point and device obtain an address to participate in the network 1 Level Discovery Control point finds all devices and device advertises its availability 2 Level Description Control point learns about device capabilities 3 Level Co
3. Branch the plan according to conditions SYNC Only after all control flows that are connected to the node arrive the flow can move to the next nodes SCRIPT Use BeanShell script in a plan GROUP Use the existing plan as a Group node Text Box Comment input box in the form of a borderless rectangle Rectangle Comment input box in the form of a bordered rectangle Rounded Rectangle Comment input box in the form of a rounded rectan gle Ellipse Comment input box in the form of an ellipse TYCHE IRSP Basic 2 2 1 IRSP BASIC 2 2 2 CREATE A PROJECT 1 Click New Project in the iRSP Toolbar I ss Target Project a a te l saj Target Pry JA 2 25 New Project New Plan 185 T Connect Refresh Settings 2 Specify Project name and Click the Next button New Plan Project Project Plan Project Project Create a new Plan Project proj ct Project name Test 7 Use default location Next gt Cancel You can change the location of workspace 3 Within this page you can choose a robot and can add basic plan files example plan files 4 After clicking Finish button you can see that the required files for the project are created successfully iRSP Basic 10 TYCHE TYCHE Create a plan Print Hello World 2 2 3 CREATE A PLAN 1 Click the New Plan button in the iRSP Toolbar 3 PRINT HELLO WORLD ih 1 Adding a Print node Drag a Print node from
4. The Al Companion for Kids MANUAL CONTENTS 1 IRSP Introduction 1 1 What is iRSP 1 2 iIRSP architecture and features 1 2 1 IRSP System Architecture 1 2 2 IRSP Features 1 2 3 IRSP System Requirement 2 How to Use iRSP 2 1 iRSP Layout 2 1 1 IRSP Menu 2 1 2 iIRSP Toolbar 2 2 iIRSP View 2 2 1 IRSP Basic 2 2 2 Create a Project 2 2 3 Create a Plan 3 Print Hello World 3 1 Declaration and Use of Variables Variables 3 1 1 Flow Control If 3 1 2 Flow Control 2 Sync Pause 3 1 3 The Control of UPnP Components UPnP Action UPnP Event 3 2 Extension Script 3 2 1 Plan Reuse Group 3 2 2 UPnP Event Monitor 3 2 3 How to Use UPnP 3 2 4 UPnP Introduction 3 3 Practical use of iRSP 3 3 1 TYCHE with iRSP 3 3 2 TTS Robotinfo 3 3 3 Change Expression LED 3 3 4 Face Detection and Take Picture 3 3 5 Music Sound 3 4 FAQ 1 Contents wW U N NNN Ou A A 7 9 10 11 12 13 14 16 17 18 19 19 20 21 21 22 22 22 23 23 24 24 TYCHE iRSP 1 iRSP INTRODUCTION 1 1 What is iRSP iRSP is a robot software platform that helps develop and execute intelligent services required for a variety of robot systems through a robot system design step and a service integration step 1 2 iRSP architecture and features 1 2 1 IRSP System Architecture oe eee ee eee ee ee eee ee ee ee ee ee ee eee ee E iRSP iem a Er Runtime iRCS i Component Int
5. XTENSION SCRIPT 1 Adding an Script node Drag an Script node from the Component View and drop it into the Editor View 2 Double click the created Script node and the pop up window in which you can type BeanShell script will appear Enter a script in the window Then Click the OK button og ae ee a Et me a 19 Extension Script TYCHE UPnP EVENT MONITOR 3 2 1 PLAN REUSE GROUP IRSP supports a Group node functionality to reuse existing plans in other plans 1 To use existing plans as a unit node in other plans drag the plan node from the Component View and drop it into the Editor View 3 aT aE f ant a aa an het a Leal Viita a Lot Vr pE a p a ora E 7 eT a E rea ugus 2 2 The input output of the added group node are same as those of the existing plan respectively 3 Specify the variables used in the input output of the existing plans in the input output of the group node respectively 3 2 2 UPnP EVENT MONITOR ee LIP Componer pureo a 2S Tyethelenr A Tet Pa Pr ak FaceDeteciori a Facehecognition a Mario Puecogeiticen ak Becton a Whee Ba T ag Sig Mowe ta i Ryo O i E T ber i Cours Mite Teiti LES mf directi a i pair i FFEFEEES A AE dayer You can see what inputs are required and outputs you get by hovering over a component function UPnP Event Monitor 20 TYCHE
6. aintestrpml 13 maintestrpmi Components A set of tools required for making Setection Conmection Project Show the all project located in the Workspace i j I F F 1 1 at a plan Selection Nodes Comments A user can use it via drag and drop wet UPnP Components 3 l l a TycheUPnp UPnP Explorer Show the list of all available UPnP List of available Group nodes Show the avail TychellPnP i a ah TychevPn Components able Group nodes Show the name and input gy Avatar i Camera a output parameters of the Group nodes a FaceDetection i ai Hg Refresh the list of UPnP Components a MarkerRetognitien A BallDetection E ay Wheel P Create new folder for UPnP E UPnP components Show the name and input A Robotinio d SmartPhonesersor output parameters of the UPnP components A Sound L Search for new UPnP ii Music A TextTotpeech ae LED ADK List of available UPnP nodes Show the available ee ES ne TELE SO 1 al 7 iRSP View iRSP View 8 TYCHE Components view COMPONENTS VIEW Select TBHE Bow Comment Rounded Rectangle E i ps e F 9 Components View Normal Selection mode This mode is for connecting nodes END Exit the plan ASSIGN Store a value in a variable PRINT Print the contents of the node in the Console View PAUSE Pause the plan for the amount of time specified in the input value unit millisecond IF
7. ents such as image processing voice recognition Components i Identical Ul on the mobile device environment with PC Robot programming with iRSP on the mobile device environment Mobile Device Environment 1 2 3 IRSP SYSTEM REQUIREMENTS The recommended environment of iRSP is as follows Windows XP Vista Linux Mac OS X 10 5 150MB With Simulator 1GB Java version For Windows Vista 7 an administrator rights is required 3 Features TYCHE IRSP Layout 2 HOW TO USE IRSP 2 1 IRSP LAYOUT ToolBar Components PREREREERERERE 3 piau 3 Editor Project Explorer PEERERRERERERESE G Console UPnP Component iRSP Layout iRSP Layout 4 TYCHE IRSP Menu 2 1 1 IRSP MENU Open File Close Ctrl W Close All Ctrl Shitt w Print Ctrl P Switch Workspace Restart 1 maintestrpml test 2 test test config Exit Undo Move Element Copy Paste Delete Select All 5 iRSP Menu Open File Open the existing Plan File Close Close the current plan editor Close All Close all the plan editors Save Save the current plan Save As Save the current plan with a new file name Save All Save all the open plans Move Move the selected plan file into anoth er project Rename Change the name of a project or a plan file Refresh Clear the results on the plan editor Print Print the current plan Switch Workspace Change the workspace pa
8. erface if I i 1 components 1 i L me m o e e a a e a a oe ee ee IRSP System Architecture IRSP consists of Plan Editor intelligent Robot Control System iRCS which executes a plan and UPnP Com ponent Builder for an UPnP Component running on a robot IRSP Plan Editor provides a Visual Programming Language VPL environment which enables a user to build robot programs conveniently via Drag and Drop A Plan is a file that is stored in our own format called Robot Plan Markup Language RPML and this file is used for executing a robot program iRCS is a runtime module of iRSP and it executes a plan consists of various components and nodes It pro vides Execution Stop and Pause functionalities and all runtime errors can be verified in the plan editor UPnP Component Builder is an Eclipse Plug in based program which helps a user to develop UPnP com ponents easily With a component project wizard a user can build an UPnP interface and a template code is generated automatically A user can program the UPnP component by filling up the template code iRSP 2 TYCHE Features 1 2 2 IRSP FEATURES k Robot programming via drag and drop Intuitive plan representation with nodes and arrows Easy to Use ii Various components from low level control components to complex components gte Provides components for external devices Various Provides algorithm compon
9. iew 11 Create a plan Print Hello World 12 TYCHE TYCHE Declaration Flow Control 3 1 DECLARATION AND USE OF VARIABLES VARIABLES 3 To use the new variable add a Print node and type the name of the new variable into the edit box of 1 Adding a variable by clicking Add Button in the Variables box located at the left top part of the the Print node Connect the node with the Start node and the End node editor View 4 After you execute the plan you can verify that the initial value of the variable is shown in the Console 2 Specify the Type Name Initial value of the variable from the leftmost box mew Declare an int type variable variable1 and set the initial value of the variable as 100 3 1 1 FLOW CONTROL IF 1 Adding an If node Drag an If node from the Components View located at the right side and drop 3 es into the Editor View 2 Inserting a branch condition Click the J y located at the right top of the If node and an edit box for ere a condition will be added Then specify a condition to branch in the edit box E g num 0 g at Fi AR a lt a aa i E ape 13 Declaration Flow Control 14 TYCHE Flow Control 3 Connect the nodes that you want to execute when the condition is satisfied like the below figure You can connect a next node from the Triangle located at the right side of the condition edit box
10. ng af Ten ae al Tril roa rater a als bat Qi Eo F 3 1 3 THE CONTROL OF UPNP COMPONENTS UPNP ACTION UPNP EVENT 1 Create a new folder for UPnP workspace Ga UPnP Components Gje a Howtos Choose a workepace folder oe UPnP Component Projects Er gp a Hayy an E hae th unga si Advanced RSF de RSP Plan Baila 2 jo RSP Runtiere Be romni r Ji storage A upre de backup 20150626 di documents a inp marma de ompi iie p TE iE D agog goo U FG ac oe Bo 17 The Control of UPNP Components TYCHE The Control of UPNP Components 2 Search for TycheUPnP wa UPRP Components E1 EP a e E E import UPnP Component Import UPnP Component Select an UPnP component and enter project name Target UPnP WFADEevice Project name 3 Add the UPnP to the Configuration file Ps Man Proaects SB 770 Steeped Bet at O a T et coniguatin H Tetpi 4 bnl Mini Pl whi Lice IRDP Hunima i kihai im GHE 2 UPR Components Pag gt ue EEE The Control of UPNP Components 18 TYCHE Extension Script 4 Use the UPnP functions to you plan PS Plan Projects 7 She en a ge test a Configuration Tyee rie a Avatar d Camera ak FateDetection di FaceRecognition a MarkerRecognition A BallDetection ak Whee ak Robotnfo d SmartPhoneSensor ai Sound a Miui ab TextToSpeech a LED a ADK Teron textupoml 3 2 E
11. ntrol Control point invokes actions on device 4 Level Event notification Control point listens to state changes of device 5 Level Presentation Control point controls device and or views device status using an HTML UI For more information visit an UPnP official website http www upnp org 3 3 PRACTICAL USE OF IRSP 3 3 1 TYCHE WITH IRSP 3 1 2 TTS ROBOTINFO J Testepenl Ef Ge ert g ipn ad Test o ihai D Local Vistiabies baaka tones sining hpr eBoy Type Speak Qutputs a ph pat a Outputs a 5 ias im Inputs Oui D on type Wii lam riding a bypae car bolas hed Condon Hc x Eam ooe o Jg conne t aoe ipconnected det Task iey puts Outputs ASAS SSS LEAL SSS coocees O fen Lam net connected bo a car i This example will program Tyche to tell you in which type of car Tyche is if it s in a car and speak l am not connected to a car if not UPNP Event Monitor 22 TYCHE Change Expressions LED 3 2 3 CHANGE EXPRESSIONS LED Tend d EL rie hicks rp F Sigir ED per imi EEk i si i ar a LERLE v aF a E 4 1 F utc m d E gii _ This example will program Tyche to turn on its LED for one second and smile at the same time 3 2 4 FACE DETECTION AND TAKE PICTURE a F ig rey a ir Looe aria a E I booi pa E aT a Frs sat oP xa F Set al fp eed pirri ro am E When T
12. ses The upgraded version which allows a user to add more poses will be provided in the future update Q Are there any other components for image processing A Image processing components are in a developing process As soon as they are stabilized the com ponents will be distributed For more questions please contact us at tyche bonavision net FAQ 24 COT CHE The Al Companion for Kids IRSP USER MANUAL Copyright 2015 Bonavision Inc All rights reserved BS BONAVISION Bonavision Inc USA 1040 Noel Dr 100 B amp C Menlo Park CA 94025 Bonavision Inc Korea 2F JungJu Bldg 20 Banpo daero Seocho Gu Seoul Korea 137 927 www tyche club
13. th and restart iRSP Restart Restart iRSP Exit Terminate iRSP Undo Move Element Reverse the effect of recent executed job Redo Do the recent canceled job again Cut Cut the selected contents Copy Copy the selected contents Paste Paste the contents of the clipboard Delete Delete the selected contents Select All Select all contents of the current plan editor TYCHE IRSP Toolbar 2 1 2 iRSP Toolbar a New Project New Plan Target Project test r Target Project 7q a p 1 Fir tes w i ies Connect Refresh Settings New Project Create a new project New Plan Create a new plan file rpml Execution Mode Choose a target Robot Simulator that a plan will be executed on Connect Connect to the runtime Deploy Deploy the roml to the runtime Execute Run the current plan Pause Stop the running plan temporarily Stop Stop the running plan Refresh Clear the results shown on the plan editor Setting Set the directory for the runtime iRSP Toolbar 6 TYCHE TYCHE IRSP View IRSP View 2 1 3 IRSP VIEW fs Plan Projects 3 a i test EJ Console amp a Configuration a Y TycheUPnP Avatar Camera FaceDetection FaceRecognition Console Show the result of executing a plan MarkerRecognition BallDetection heel Robotinfo and all plan files of those projects Smar thhonesensor Sound Music TextToS peech LELI ae ADK Editing Took m
14. the Component View and drop it into the Editor View aj a Target Project Pi i ae is a L a a ro 4 Temp New Project New Plan test Connect Refresh Settings 3 2 First choose the project which contains the new plan Then specify the name of the plan and click the Finish button Mew Plan File Plan file Crete d ew Plin fil i Enter or sett the pent fadi Test LS Example io Test 2 Entering the value into the Print node Type Hello World into the edit box of the Print node 3 Connecting a control flow Connect the Start node the Print node and End node in order A control aa flow is represented as an arrow You can connect nodes by dragging from the edges of each nodes or using the chain shape Connection Tool h Awan gt Pea a In the plan Inputs Local Variables Outputs Start node and End node are created Inputs is for the l list of inputs of the plan Local Variables is the list of variables in the plan Outputs is the list of the outputs of the plan Start node is where the plan starts and End node is the end point of the plan 4 Execution You can run the plan with Execute You can identify a current control flow with the highlight of nodes You will be able to watch the Hello World which you typed in the edit box of the Print node in the Console V
15. yche detects a face it takes a photo 23 Change Expressions LED TYCHE FAQ 3 2 5 MUSIC SOUND z Teepe et 2 aloe rerrd aa Frnt noun ear i et F T ey pat a roe i t e ae Loca VrH J nt gi o blr E i a E eae en FE ny input G Outputs g am l LEC ae t Oot a r paa E p tut 7 oe cunt a i 0 detain ren UP a B is el heh G yt g m i Pee ty r LENE eoa l D fey wasn T el LPE TEn Lak E Lar 3 3 FAQ Q Does iRSP support other robots beside EngKey A Yes iRSP supports various robots such as Silbot2 iRobot Create AR Drone2 Bonavision Smart phone robot Sphero and Romo Information about other robots will be offered in a component or manual update Q How can I make an android UPnP Component A A Service class from the UPnP Builder also can be used on the android environment However the code stub that creates a Device needs to be implemented in a different way For more detailed explanation refer to the below Cling Library website http 4thline org projects cling core manual cling core manual html chapter Android Q How can add additional poses to the PoseDetection Component A The PoseDetection component is implemented using openNl Library http www openni org To add other poses you have to re implement the component with the library Currently the PoseDetec tion components can use only the predefined poses and it is impossible to define additional po
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