[simspark-svn] SF.net SVN: simspark:[336] trunk/spark/doc/papers/2013

[<yx...@us...>]

Revision: 336
          http://simspark.svn.sourceforge.net/simspark/?rev=336&view=rev
Author:   yxu
Date:     2013-03-15 15:38:19 +0000 (Fri, 15 Mar 2013)
Log Message:
-----------
* open-source-paper:
  more hints
  text for figure
  improve figure
  restruct

Modified Paths:
--------------
    trunk/spark/doc/papers/2013/joint.tikz
    trunk/spark/doc/papers/2013/opensource.tex

Modified: trunk/spark/doc/papers/2013/joint.tikz
===================================================================
--- trunk/spark/doc/papers/2013/joint.tikz	2013-03-12 14:03:10 UTC (rev 335)
+++ trunk/spark/doc/papers/2013/joint.tikz	2013-03-15 15:38:19 UTC (rev 336)
@@ -2,36 +2,33 @@
   \tikzstyle{module}=[draw, minimum height=1cm, minimum width=2cm]
 
   \node[module] (sc) {\shortstack{Stiffness\\ Control}};
-  \draw[<-] (sc) -- node[near end, above]{$k_s$} ++(-2,0);
+  \draw[<-] (sc) -- node[at end, above]{$k_s$} ++(-2,0);
 
 
-  \node[module] (bl) at (3,0) {Backlash};
+  \node[module] (bl) at (3,0) {\shortstack{Temperature\\ Regulation}};
   \draw[->] (sc) -- node[above]{$\tau_{max}$} (bl);
 
-  \node[module] (ode) at (6,-1) {\shortstack{Simulation\\ Engine}};
-  \draw[->] (ode) -- ++(0,2) -| node[above, near start]{$\theta, \dot{\theta}$}
-  (bl);
+  \node[module] (ode) at (6,1) {\shortstack{Simulation\\ Engine}};
   \draw[->] (bl.east) -- ++(0.3,0) |- node[right, near start]{$\tau_m$}
-  ($(ode.north west)!0.3!(ode.south west)$);
-
-  \node[module] (pd) at (0, -2) {\shortstack{PD\\ Controller}};
-  \draw[<-] (pd) -- node[above, near end]{$\theta_r$} ++(-2,0);
-  \draw[->] (ode) -- ++ (0,-2.3) -| node[above, near start] {$\theta,
-    \dot{\theta}$} (pd);
-
-  \node[module] (sl) at (3,-2) {\shortstack{Speed\\ Limitation}};
-  \draw[->] (pd) -- node[above]{$\dot{\theta_r}$} (sl);
-  \draw[->] (sl.east) -- ++(0.3,0) |- node[right, near start]{$\dot{\theta_e}$}
   ($(ode.north west)!0.7!(ode.south west)$);
 
+  \node[module] (sl) at (1.5,2) {\shortstack{Speed\\ Limitation}};
+  \draw[<-] (sl) -- node[above, at end]{$\dot{\theta_r}$} ++(-3.5,0);
+  \draw[->] (sl.east) -- ++(1.9,0) |- node[right, near start]{$\dot{\theta_e}$}
+  ($(ode.north west)!0.3!(ode.south west)$);
+
   \draw[->] ($(ode.north east)!0.3!(ode.south east)$) -- node[above,
-  at end]{$\theta$} ++(5,0);
+  at end]{$\theta$} ++(6,0);
   
-  \node[module] (ps) at (9.5,-2) {\shortstack{Power\\ Consumption}};
+  \node[module] (ps) at (9.5, 0) {\shortstack{Power\\ Consumption}};
   \draw[->] ($(ode.north east)!0.7!(ode.south east)$) -- ++(0.3,0) |-
   node[right, near start] {$\tau, \dot{\theta}$} (ps);
+  \draw[->] (ps) -- ++(0,-1) -| node[above, near start]{$\Delta{Q}^+$}
+  (bl);
 
-  \draw[->] (ps) -- node[above, near end]{$E,T$} ++(2.5,0);
+  \node[module] (bat) at (6, -2.5) {Battery};
+  \draw[->] (ps) -- ++(2, 0) |- node[above, near end]{$E$} (bat);
+  \draw[->] (bat) -| node[above, near start] {On/Off} (sc);
 
-  \draw[dashed] (-1.3,-3.5) rectangle (11,2) node[anchor=north east] {Servo Motor Model};
+  \draw[dashed] (-1.3,-1.5) rectangle (12,3) node[anchor=north east] {Servo Motor Model};
 \end{tikzpicture}
\ No newline at end of file

Modified: trunk/spark/doc/papers/2013/opensource.tex
===================================================================
--- trunk/spark/doc/papers/2013/opensource.tex	2013-03-12 14:03:10 UTC (rev 335)
+++ trunk/spark/doc/papers/2013/opensource.tex	2013-03-15 15:38:19 UTC (rev 336)
@@ -52,24 +52,34 @@
 \maketitle
 
 \begin{abstract}
-  this is abstract
+  - current state of simspark
+  - changes 2013
+  - evidence of impact of the released component to the RoboCup community.
+  - technical contribution
+  - benefit for the RoboCup community.
 \end{abstract}
 
 \section{Introduction}
+The development on robots may be severely limited by the constrained resources.
+This is especially true in the research of multi-robots systems in areas such as RoboCup.
+Using simulation for algorithm development and testing makes thing easier.
 
 \todo[inline]{Background/histsory}
 \cite{Boedecker2008,OR05}
 
 \todo[inline]{Releated work: SimRobot, Webots, V-REP, Gazebo...}
 
-\section{Current state / development sicen 2008}
+\section{Current state / development since 2008}
 Because last paper about simspark was in 2008
 \todo[inline]{sensors: ACC, FSR, restict vision, with line perceptions, image ...}
 \todo[inline]{robot model: NAO}
 \todo[inline]{soccer rules (referee)}
 \todo[inline]{bigger fields and more robots}
 
-\section{realistic motor modelling}
+\section{Recent Development (Changes 2013)}
+
+
+\subsection{Realistic Motor}
 NAO robot has twenty-one motor joints as its actuators.
 The simple motor model is one reason for the unrealistic simulation results.
 The ODE provides a simple model of real life servos.
@@ -77,9 +87,6 @@
 There is no motor that works like this in reality.
 Furthermore, some aspects like stiffness control, power consumption and temperature regulation, are missing but are also important for robotics.
 
-
-A PD controller was implemented for the simulated NAO. \todo{this is for angle position control like DCM of NAO}
-
 \paragraph{Stiffness}
 The stiffness determines how strong the motor is. The value is from 0.0
 to 1.0, 0 means the motor is off and 1 means the motor is running at
@@ -218,13 +225,10 @@
 \end{figure}
 
 The whole process of joint simulation is summarized in
-\Cref{fig:joint}: stiffness is simulated by setting the maximum torque of
-the motor; desired speed of motor is determined by a PD controller
-according to the target angle (see \cref{eva-joint-motor}), current angle and current speed; backlash
-is modeled by the dead band model; and the simulation engine computes
-the resulted angle and torque applied; in the end, the consumed power
-and temperature are computed by \cref{eq:motor-power,eq:motor-temp}
-respectively.
+\Cref{fig:joint}: stiffness $k_s$ is simulated by setting the maximum torque
+of the motor $\tau_{max}$; the final maximum torque $\tau_m$ used by simulation engine is calculated by temperature regulation; and the simulation engine computes the resulted angle
+and torque applied; in the end, the consumed power and temperature are
+computed by \cref{eq:motor-power,eq:motor-temp} respectively. When the battery is empty, the maximum torque $\tau_{max}$ is set 0 to turn off the motor.
 \begin{figure}
   \centering
   \inputtikz{joint}
@@ -232,11 +236,19 @@
   \label{fig:joint}
 \end{figure}
 
-\section{applications}
+\subsection{Heterogeneous Robots}
 
+\subsection{Agent Proxies}
+
+\subsection{Player Integration??}
+
+\section{Applications}
+
 \paragraph{RoboCup simulation league (of course)}
+- some research?
+- roboviz
 
-\paragraph{research (used by teams have real robot)}
+\paragraph{Usage in real robot teams}
 - we (NaoTH) have shared common interface with NAO
 - FUmanoid
 - education
@@ -245,17 +257,10 @@
   \centering
   \includegraphics[width = 0.95\columnwidth]{simspark-spl}
   \caption{Prototype of the extended SimSpark for Standard Platform League.
-    It simulates a game in our lab. The bottom of screen are images of robot cameras.}
+    The bottom of screen are images of robot cameras.}
   \label{f:nao-models}
 \end{figure}
 
-\section{development plan/ current development}
-\begin{itemize}
-\item heterogeneous robots
-\item agent proxies
-\item Player integration
-\end{itemize}
-
 \section{Conclusion and Future Work}
 
 \bibliographystyle{splncs03}

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