Personal Exploration Rover Activity Dictionary PER-Benchmark-1.0.0

Released 2009-June-19 by Aaron Klapheck and Mel Ludowise

Set up all activities.
Revision History>>

This Activity Dictionary defines 8 activities that all share 0 attributes and use 11 constants and 0 AD-defined list and structure definitions and no state resources and 1 numeric resources and no claimable resources and no sharable resources and no power loads .

 

DriveDrive
Move_To_Coordinate
Rotate_in_Place
CameraMove_Camera
Take_Picture
Take_Panorama
MiscUV_Light
Scan

Constants:

SECONDS_PER_TURN: Double

Taken from PER code.
Value: 0.3
Expressed in units of seconds.
Unused

SECONDS_PER_TURN_DEGREE: Double

Taken from PER code.
Value: 0.2
Expressed in units of seconds/degrees.
Used by:

WATTS_PER_TURN_DEGREE: Double

Estimated value.
Value: 2
Expressed in units of W/degree.
Used by:

SECONDS_PER_HEAD_TURN_DEGREE: Double

Taken from PER code.
Value: 0.1
Expressed in units of s/degrees.
Used by:

WATTS_PER_HEAD_TURN_DEGREE: Double

Estimated value.
Value: 0.4
Expressed in units of W/degrees.
Used by:

SECONDS_PER_DRIVE: Double

Taken from PER code.
Value: 0.2
Expressed in units of seconds.
Used by:

SECONDS_PER_DRIVE_CENTIMETER: Double

Taken from PER code.
Value: 0.311
Expressed in units of seconds/cm.
Used by:

WATTS_PER_DRIVE_CENTIMETER: Double

Estimated value.
Value: 1
Expressed in units of W/cm.
Used by:

WATTS_PER_LIGHT_SECONDS: Double

Estimated value.
Value: 2
Expressed in units of W/seconds.
Used by:

SECONDS_PER_PICTURE: Double

Estimation taken from PER code.
Value: .75
Expressed in units of seconds.
Used by:

WATTS_PER_PICTURE: Double

Estimated value.
Value: 0.4
Expressed in units of W.
Used by:
No functions are defined.

Numeric Resources:

Battery_Power:

The amount of power the PER can supply
Expressed in units of W.
Used by:
No State Resources No Claimable Resources No Sharable Resources No Power Loads

AD-defined Structure/List Type Definitions:

Attributes:

Activities:

Move_Camera

Camera
Top-level
Changes the cameras position to the position specified (TurnHeadAction).
Parameters:
  1. Pan: Integer
    The side-to-side motion or yaw of the PER's head. (+) = left, (-) = right, Range = -180 to 180. The default pan angle is 0 degrees.
    Default value: 0
    Expressed in units of degrees.
  2. Tilt: Integer
    The up-and-down motion or pitch of the PER's head. (+) = up, (-) = down, Range = -30 to 90. The default tilt angle is 0 degrees.
    Default value: 0
    Expressed in units of degrees.
Attributes have their usual defaults.
Duration formula:
(SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Tilt)) + (SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Pan))
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Take_Picture

Camera
Top-level
PER takes a picture (RoverController.takePicture).
Parameters:
  1. Picture_dimensions: String
    Height x Width (in pixels) of each of the pictures taken that make up the panorama. Default is 320 x 240 pixels.
    Must be drawn from: 640x480 | 352x288 | 320x240 | 160x120
    Default value: 640x480
    Expressed in units of pixels.
Attributes have their usual defaults.
Duration formula:
SECONDS_PER_PICTURE
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Take_Panorama

Camera
Top-level
PER takes a series of pictures (tiles) witch it internally stitches together to make a panorama (TakePanoramaAction).
Parameters:
  1. Min_tilt_angle: Integer
    The minimum tilt angle the panorama includes. Range: 0 to -45. The default angle is -30 degrees.
    Default value: -30
    Expressed in units of degrees.
  2. Max_tilt_angle: Integer
    The maximum tilt angle the panorama includes. Range: 0 to 90. The default angle is 30 degrees.
    Default value: 30
    Expressed in units of degrees.
  3. Tile_dimensions: String
    Height x Width (in pixels) of each of the pictures taken that make up the panorama. Default is 320 x 240 pixels.
    Must be drawn from: 640x480 | 352x288 | 320x240 | 160x120
    Default value: 320x240
    Expressed in units of pixels.
Attributes have their usual defaults.
Duration formula:
2*8*SECONDS_PER_PICTURE
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Drive

Drive
Top-level
PER will move in a straight line at the specified angle (DriveToAction).
Parameters:
  1. Distance: Integer
    Centimeters the PER will move. Range: -1000 to 1000. The default distance is 0 cm.
    Default value: 0
    Expressed in units of cm.
  2. Angle: Integer
    The angle the PER will drive at. 0 = straight, 90 = left, -90 = right, Range: -180 to 180. The default angle is 0 degrees.
    Default value: 0
    Expressed in units of degrees.
  3. Safety_level: String
    NO_SAFETY: No IR detection of obstacles will occur. STATIC_SAFETY: Where the PER's head is fixed at pan=0 and tilt=-35 and if an object is detected the PER will stop. CYCLE_SAFETY: Where the PER's head is continuously moving to a number of safety points and if an object is detected the PER will stop. The default safety level is NO_SAFETY.
    Must be drawn from: NO_SAFETY | STATIC_SAFETY | CYCLE_SAFETY
    Default value: NO_SAFETY
Attributes have their usual defaults.
Duration formula:
SECONDS_PER_DRIVE + (Math.abs(Distance) * SECONDS_PER_DRIVE_CENTIMETER)
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Move_To_Coordinate

Drive
Top-level
The PER will move to the specified coordinates and face the specified orientation (MoveToAction).
Parameters:
  1. x_position: Integer
    The x coordinate of the destination. (+) forward, (-) backward, Range: -1000 to 1000. The default x value is the origin value.
    Default value: 0
    Expressed in units of cm.
  2. y_position: Integer
    The y coordinate of the destination. (+) left, (-) right, Range: -1000 to 1000. The default y value is the origin value.
    Default value: 0
    Expressed in units of cm.
  3. Angle_facing: Integer
    The angle the PER will be facing when it reaches its destination. (+) CCW, (-) CW, Range: -180 to 180. The default angle is 0 degrees.
    Default value: 0
    Expressed in units of degrees.
Attributes have their usual defaults.
Duration formula:
SECONDS_PER_DRIVE + (Math.abs(x_position + y_position) * SECONDS_PER_DRIVE_CENTIMETER)
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Rotate_in_Place

Drive
Top-level
The PER will rotate in place by a specified angle (TurnTo).
Parameters:
  1. Angle: Integer
    The angle the PER will turn through. (+) CCW, (-) CW, Examples: 0 = straight, 90 = left, -90 = right. Range: -360 to 360. The default angle is 0 degrees.
    Default value: 0
    Expressed in units of degrees.
Attributes have their usual defaults.
Duration formula:
SECONDS_PER_DRIVE + (Math.abs(Angle) * SECONDS_PER_TURN_DEGREE)
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

UV_Light

Misc
Top-level
Turns on a Ultraviolet light for a specified amount of time (RoverController.setLight).
Parameters:
  1. time_active: Integer
    The length of time the UV light will be on. Range: 0 to 3600. The default duration is 0 seconds.
    Default value: 0
    Expressed in units of seconds.
Attributes have their usual defaults.
Duration formula:
time_active
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Scan

Misc
Top-level
The PER will scan the specified area for obstacles (ScanAction).
Parameters:
  1. Tilt_angle: Integer
    The tilt angle for the PER's head. (+) CCW, (-) CW, Example: 0 = straight, 90 = left, -90 = right. Range: -45 to 0. The default angle is -30 degrees.
    Default value: -30
    Expressed in units of degrees.
  2. Minimum_pan_angle: Integer
    How far to the left the PER's head will turn (must be +). (+) CCW. Range: -180 to 0. The default angle is -30 degrees.
    Default value: -30
    Expressed in units of degrees.
  3. Maximum_pan_angle: Integer
    How far to the right the PER's head will turn (must be -). (-) CW. Range: 0 to 180. The default angle is 30 degrees.
    Default value: 30
    Expressed in units of degrees.
  4. Step_size_angle: Integer
    The largest angle the PER's head will turn through at a time. Range: 10 to 90. The default step angle is 15 degrees.
    Default value: 15
    Expressed in units of degrees.
Attributes have their usual defaults.
Duration formula:
SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Minimum_pan_angle + Math.abs(Minimum_pan_angle - Maximum_pan_angle))
where:
No claims.
No shared reservations.
No state requirements.
No numeric requirements.
No state effects.
No Power Load effects.
Numeric effects:
Does not expand into any subactivities.

Index:
TOP
B
D
M
R
S
T
U
W
B Battery_Power — NumericResource
D Drive — ActivityDef
M Move_Camera — ActivityDef
Move_To_Coordinate — ActivityDef
R Rotate_in_Place — ActivityDef
S Scan — ActivityDef
SECONDS_PER_DRIVE — Constant
SECONDS_PER_DRIVE_CENTIMETER — Constant
SECONDS_PER_HEAD_TURN_DEGREE — Constant
SECONDS_PER_PICTURE — Constant
SECONDS_PER_TURN — Constant
SECONDS_PER_TURN_DEGREE — Constant
T Take_Panorama — ActivityDef
Take_Picture — ActivityDef
U UV_Light — ActivityDef
W WATTS_PER_DRIVE_CENTIMETER — Constant
WATTS_PER_HEAD_TURN_DEGREE — Constant
WATTS_PER_LIGHT_SECONDS — Constant
WATTS_PER_PICTURE — Constant
WATTS_PER_TURN_DEGREE — Constant

Revision History:
PER-Benchmark-1.0.02009-June-19Aaron Klapheck and Mel LudowiseSet up all activities.
1.0.12009-July-29Aaron Klapheck Added Constants section. Edited Activity Definitions.
1.0.12009-Aug-4Aaron Klapheck Edited Activity Definitions to increase their clarity.
1.0.22009-Aug-6Aaron Klapheck Spell checked the document. Edited Activity Definitions to increase their clarity.
1.0.32009-Aug-10Aaron Klapheck Spell checked the document. Edited Activity Definitions to increase their clarity.