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FSM Based Controllers
Week 1 Summary
May 29 - June 1, 2007
The main objectives of the first week were to understand the concept of Finite State Machine (FSM) and how to use GME to create model-based and metamodel-based programs. Other topics discussed during the week were discrete math and some RISC assembly language.
- Learned about finite state machines and domain-specific modeling languages (C++).
- Completed the Introduction to GME tutorial lessons 1-3.
- Read about Turing Computability and the Halting Problem gave by Daniel.
- Read about Finite State Machine in Wikipedia.com assigned by Jan.
For next week I plan to:
- Read "Programming LEGO Mindstorms with JAVA".
- Learn more about the C++.
- Get familiar with Java API and leJOS.
- Determine the goals of my project.
Week 2 Summary
June 4 - 8, 2007
The main objectives of the second week were to set up the environments and tools for my research project and get familiar with the Application Programming Interface (API) and the LeJOS. Other than that, I also play around with the sensors and try to get the basic idea of the robot's behavior. There are several tasks that I have accomplished this week.
- Set up the Java SDK 1.4 and the LeJOS environment in my labtop and computer in the lab.
- Install Lego IR Tower USB driver in my labtop and computer in the lab.
- Go through the LeJOS Tutorial in the web.
- Program basic programming.
For next week I plan to:
- Build the physical of the robot.
- Learn more about the LeJOS and try to make a more complicated program.
Week 3 Summary
June 11 - 15, 2007
The main objectives of the third week were to build a complete simple robot system. My task was build a simple bumper car where it is going to reverse and turn 90o the right after it hit a wall and move forward again.
- Cleaned and organized my lego station. I have taken them apart and placed them into groups
- Built a lego robot.
- Program my robot using Java and LeJOS.
- Tested and ran the robot.
- Redesign the robot in order to improve it.
- Played around with the robot a little bit.
For next week I plan to:
- Improve the design of the robot to make it perfect.
- Start using FSM and GME to create a more complicated robot.
- Try to build a smart robot on a specific task.
Week 4 Summary
June 18 - 22, 2007
The main objectives of the forth week were to build a module of FSM in GME and generate a Java code using BON2 in Visual Studio. There are several tasks that I have accomplished this week.
- Built a FSM module in GME.
- Generated a C++ code from the FSM module using BON2 in Visual Studio.
- Wrote a Java code similar to the generated C++ code.
- Ran and tested the Java code to make sure it is working.
- Rewrote the BON2 so that it will generate the Java code instead of C++.
- Ran the BON2 and generated the generated Java code.
- Added some extra codes in the 'Attributes' of the states and transitions by adding something in FSM MetaModel.
For next week I plan to:
- Finish up the generated Java code interpreter.
- Build the model of the controller for the exploration of the maze.
- Prepare for the presentation on Friday (Jun 30th) and next Tuesday (July 3rd).
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Week 5 Summary
June 25 - 29, 2007
The
main
objectives of the fifth week were to complete my presentations for
Friday the 29th and Tuesday the 2nd and also to write a midterm report.
- Created a PowerPoint presentation for Friday's ISIS meeting at noon.
- Presented my PowerPoint at ISIS.
For next week I plan to:
- Continue working on my PowerPoint presentation.
- Continue working on the Midterm Report for Tuesday the 2nd of July.
- Continue working on the BON2 interpreter in order to generate Java code automatically.
Week 6 Summary
July 2 - 6, 2007
The main objectives of the sixth week were to update and improve my Powerpoint slides for my presentation on Tuesday the 2nd of July and finish up my midterm report. Other than that, I was was working on the BON2 interpreter. There are several tasks that I have accomplished this week.
- Created a PowerPoint presentation for Tuesday's Midterm presentation in front of Dr. Karsai.
- Presented my PowerPoint.
- Wrote midterm report and turn it in.
- Finished up my BON2 interpreter.
For next week I plan to:
- Test my BON2 interpreter.
- Start exploring the maze.
Week 7 Summary
July 9 - 13, 2007
The main objective of the seventh week was to start working on the exploration of maze. There are several tasks that I have accomplished this week.
- Redesigned the robot.
- Finished up the BON2 interpreter for my BumperCar.java program.
- Started working on new BON2 interpreter for the exploration of maze.
For next week I plan to:
- Test my new BON2 interpreter.
- Continue exploring the maze.
Week 8 Summary
July 16 - 20, 2007
The main objective of the eighth week was to continue working on the exploration of maze. There are several tasks that I have accomplished this week.
- Tested the new BON2 interpreter.
- Redesigned the robot.
- Continue working on new BON2 interpreter for the exploration of maze.
For next week I plan to:
- Test and fix my new BON2 interpreter.
- Continue exploring the maze to make it perfectly working.
Week 9 Summary
July 23 - 27, 2007
The main objective of the ninth week was to continue working on the exploration of maze and make sure that the robot is working properly. Also, I started working on my PowerPoint slides and final paper. There are several tasks that I have accomplished this week.
- Finished up the BON2 interpreter for my BumperCar.java program.
- Finished up the new BON2 interpreter for the exploration of maze.
- Successfully run the robot in maze.
For next week I plan to:
- Finished up my final paper.
- Finish up my PowerPoint slides.
- Prepare for my final presentation.
Week 10 Summary
July 30 - August 3, 2007
The main objective of the tenth week was to wrap everything up. There are several tasks that I have accomplished this week.
- Finished up my final paper.
- Finished up my PowerPoint slides for final presentation.
- Presented my final PowerPoint presentation.
- Successfully run a demo on my project in front of Dr. Karsai.
