Rock Moving Robots
Timing Analysis of Software Dynamic Properties
Hardi + Gulcin + Keijo + Madis
General Description
2 autonomous robots + 1 quadcopter (master)
Moving towards the rock
Moving the rock
Quadcopter Processes
Robot Processes
Robots
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GPS
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Lidar
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Weight sensor
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Quadrature encoders
Quadcopter
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GPS
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Camera
-
Lidar
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Flight control sensors:
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Barometer for altitude control
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Magnetic field sensor for direction control
- 3-axis accelerometer for velocity control
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Sensors
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Motors for moving tracks
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Motors for moving the top part of the robot
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Hydraulics for forks
- Quadcopter motors
Actuators
Timing Diagram of Q-model
Thank you!
Rock Moving Robots Timing Analysis of Software Dynamic Properties Hardi + Gulcin + Keijo + Madis