Using Microsoft Technologies for the FIRST 2007 robotics competition

by mlinnen 12/20/2007 2:20:58 PM

I have been meaning to blog about one of the coolest projects I have been involved with for a while now but I have been too busy to do so.  Back in June of 2006 I got involved with Bob Pitzer (Botbash), Chris Harriman and Joel Meine, in providing a software/hardware solution for the FIRST Robotics Competition for their upcoming 2007 season.  FIRST is a non profit organization that is dedicated to teaching young minds about science and technology through several fun filled robotics competitions.  Make sure you check out their web site to see how you might be able to get involved in this great program.  Also check out the 2007 video archive to see how exciting these events can be.  Make sure you pay attention to the computer graphics that are superimposed over the live video because that is what we built! 

The software and hardware we built was used to manage multiple 3 day events over a months time frame.  This ended up being around 40 events across the US in roughly 30 days.  Each event had anywhere from 30 to 70 teams competing.  Each day of the event had to be executed in an efficient manor in order to complete the tournament style competition.  The system was designed at a high level to do the following:

  • Lead an event coordinator through the steps of managing a tournament
  • Maintain a schedule of matches over a 3 day period
  • Inform the audience of match scoring in real time
  • Broadcast live video mixed with real time match score information to the web
  • Inform the other competitors in the Pit area of upcoming matches, match results, and real time team ranking details as each match completes.
  • Control the field of play from a central location
  • Gather scoring details from judges located on the field
  • Provide periodic event reports for online viewing as the tournament progresses

All of this was done using Microsoft .Net along with various open source .Net projects to speed up the development process and provide a robust system that was easy to use by various volunteers. 

I used various pre-built components in order to build this system.  Since this application needed to interface with multiple hardware components and provide a rich user interface a Windows Forms application was going to be required.  I chose the Patterns and Practices Smart Client Software Factory (SCSF) as the basis for the Windows Forms framework.  I had used this Framework in a previous project and I knew it would give me the modular design I needed to accomplish the functional goals of the design.  I wanted a solution that allowed for me to do a lot of Unit Testing as I was going to be the only developer doing the work and the amount of QA testing was going to be very small.  Since the SCSF used a Model View Presenter pattern I knew that testing would not be an issue.  Also SCSF uses a dependency injection pattern that would also lend itself very well for unit testing.  Another benefit of the dependency injection pattern was that I could mock out some of the hardware interfaces so that I did not have to have a fully functional robot arena in my home office!  I actually developed the hardware interface without ever connecting to the hardware on my development machine.  This was done by establishing a good interface and using a mock implementation of this interface to complete all the business logic without having any hardware.  Then at a later date we implemented the real hardware layer and even to this day I use the mock implementation for all development work since I do not have an arena in my office. 

For the data access layer I choose to use SubSonic as it provided a very fast way to generate the data access layer from a database schema.  Using SubSonic gave me the flexibility to grow the data model really fast as the solution emerged over time.  The database back end was SQL Server Express 2005.  Since the solution only required a small set of clients and it had to be disconnected from the Internet  SQL Server Express was right for the job. 

Deployment of the application was done with ClickOnce in a full trust environment.  This enabled me to make changes to the application throughout the tournament and the software on each playing field computer remained at the most recent version.  The click once deployment also managed the upgrade process for any database changes as well. 

The central control of the field of play was handled by a single .Net Win Forms application that interfaced to Programmable Logic Controllers (PLC) via a third party managed library.  This library allowed for me to set PLC memory locations as well as monitor locations without having to worry about the TCP/IP communications protocol.  This was a great time saver as I could concentrate on high level business value rather than low level communications.  Since the low level communications was not required I did not have to spend a lot of time with debugging hardware/software integration problems.

Another key area of integration was providing a Hardware UI that consisted of LCDs and Buttons that enabled a field operator to manage the match process without using the computer keyboard or mouse.  This was done using a serial port communicating to a BX24 from Netmedia.  The user would actuate buttons on the hardware UI in order to start or stop the match as well as many other tournament related functions.  The hardware UI would lead the operator to the next step by flashing the most appropriate button for the current point of the match.  This made the operators job a lot easier. 

The audience needed to be informed about what is going on during the event.  An announcer was always present at these events but the audience also needed visual cues that made it apparent what was going on.  So I created a win forms audience display application that would provide the detail the audience needed.  This detail was not only displayed to the live audience but it was also broadcast over the Internet to individuals that where not able to attend physically.  This audience display showed live video as well as match statistics mixed together on one screen (you can see this in action in the video links I mentioned above).  This screen was projected up onto a huge screen so all audience members could see with great ease.  The live video mixing was done using a green screen technique that is often used with the weatherman on local news stations.  Basically a green color is used in a color keying process to superimpose the live video over the green color.  The screen snapshots below give you an idea of the type of information that was presented to the audience as well as the web broadcast.

 

2007-02-21_135125      2007-02-21_135226

AlliancePairingSample      2007-02-21_135201

Well I could go on and on about details of the application we wrote to make the 2007 FIRST FRC event a great success but I think I will save it for a set of later posts.  Also I have been working on the software for the 2008 season that uses WPF for an even more richer user experience (can anyone guess I used some animations!).

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Robotics | Software

Hero robot is coming back!

by mlinnen 12/16/2007 12:21:04 AM

Heathkit was an awesome company that supplied electronic kits for educational purposes back in the 80's and 90's.  Their products where a bit on the pricey side but where else could you get a TV in kit form that you had to build.  I bought an Oscilloscope from them and put it all together in several weekends.  I also had a single board computer that was sold by Heathkit that I did not actually build but I used it for teaching myself how to program using machine(Assembly) language.

Well Heathkit is back in action and one of the best products they offered is also back.  The Hero Robot of the 80's is now called HE-RObot.  Back in the 80's you could get this robot in kit form or fully assembled.  I was never able to purchase one but I worked for a company repairing electronic equipment and the owner's son ended up getting one.  It was one of the coolest things I saw and it probably was one of the reasons I became so interested in robotics in the first place.  I don't remember all the specifics of the original robot but from what I remember it had sonar ranging, optical wheel encoders, light sensors, current sensors, and sound sensors.

Well the new Hero is a partnership between White Box Robotics and Heathkit.  The new HE-RObot comes with an onboard PC with an XP operating system and Microsoft Robotics Studio as the programming environment.  Finally a product is in the market place that combines both of my passion's: Robotics and Microsoft .Net.  This is a very powerful robot but I do not see too many details on what sensors will be offered.  On the web site it looks like it will include IR, Web Camera, and Audio.  I sure would like to see a few more details on what other capabilities it will have as far as sensors go. 

The web camera is going to be real powerful as a sensor.  I was fortunate enough to evaluate an ER1 robot from Evolution Robotics.  I wrote an article about this experience called 30 Days of ER1 back in 2003.  The live video pattern recognition routines put a whole new meaning to navigating your environment.  I am pretty sure White Box Robotics has licensed the software that handled pattern recognition from Evolution Robotics so the HE-RObot will have the same capabilities.

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How to build a Maze Robot

by mlinnen 12/15/2007 3:48:40 AM

Overview

The following article was originally posted by me on the Phoenix Area Robotics eXperimenters web site.  I moved the article here on my blog as I no longer belong to the Robotics group.  You can find the original article on the PAReX site.

Building a Maze Robot

My maze robot DR X took first place in BotBash’s 2000 Autonomous Maze competition. The competition consisted of three mazes with different configurations. The robot that completed all three mazes in the shortest time wins the event. Each robot had five chances to complete all three mazes. The shortest three times where summed up for the final score. DR X was the only robot able to complete all three mazes in the allotted time frame. This article was written as an attempt to explain the techniques used to allow DR X to accomplish first place.

There are several techniques that can be used in solving mazes:

  • Random
  • Wall Following
  • Mapping

Random navigation does not seem like a very elegant way to master a maze so my choices were mapping or wall following algorithms. Mapping a maze can be very difficult to do and this competition did not really reward such a task. So that leaves wall following as the best bet to complete the maze.

Wall following can be best explained by imagining yourself in a maze with your eyes closed. If you could place one hand on a wall and never let the hand leave the wall you will eventually find the end of the maze as long as the finish is not an island in the middle of the maze. It is very important to follow only one wall until you reach the end.

The following drawings show right and left wall following paths for a given maze.

wallfollow

Notice that in some cases it is better to choose one wall to follow over another. Here the shortest path from start (S) to finish (F) is via the right wall. So it is good practice to be able to command your robot to follow one wall over another before it is set in the start box. This can be accomplished by using the left and right bumper switches. Tapping the left or right switch before the start commands the robot to follow the left or right wall.

So I set out to build and program a maze robot to follow one wall. I choose to use a differential drive system on a round body. This would allow me to control the robot rather easily and prevent it from getting hung up on maze walls. I mounted two GP2D02 IR Sensors on a single shaft on top of a servomotor. The sensors were positioned 90 degrees apart. The servomotor allowed the robot to look straight ahead and the left or right wall at the same time.

DR X First Prototype

drxPrototype

In order to tell if the robot was getting closer or further away from a wall a minimum of two sensor readings would have to be taken over a period of time while the robot was moving. I had some difficulty in fine-tuning the reactions needed to prevent the robot from touching the walls. I quickly realized that this sensor arrangement had some shortcomings. I needed to be able to look at a wall and determine if the robot was parallel to it without moving forward. If I could achieve this, the robot would always start off parallel to a given wall. So I made some sensor placement changes that would not require the robot to be moving in order to determine if it was parallel or not.

DR X Second Prototype

drxPrototype2

I found out some other advantages of this sensor arrangement. While the robot was following a wall and it approached a doorway of the maze the first sensor would detect the opening (doorway) very easily. Once the second sensor detected the doorway I knew the robot was directly in front of the entranceway. A 90 degree turn towards the entranceway would position the robot perfectly for passage through the door. Passage through the door would also be easily detected. As the robot moved forward, the door jam could be detected by both sensors. The robot could successfully determine when a door was found and navigate through the door rather easily.

The following drawings show the robot navigating through a doorway.

The robot approaches the doorway

door1

The robot passes the doorway

door2

The robot turns left 90 degrees

door3

The robot moves forward into the doorway

door4

The robot is almost through the doorway.

door5

The robot is through the doorway.

door6

DR X Front View

drx_front

DR X Side View

drx_side

Improvements

Well this solution certainly has room for improvement and it is not the only way to solve a maze. One major enhancement that I saw was DR X needed a sensor that could look in front of the robot while it was attempting to follow a wall. This would have prevented the robot from having to collide with a wall before it realized it needed to stop and turn.

Conclusions

Well this project sure was a gratifying experience. To watch my little creation navigate the maze was a great thrill. A lot of last minute hard work went into this robot but come event day it all paid off.

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Robotics

BX24 and PowerShell for managing a build process

by mlinnen 7/18/2006 12:01:00 PM

I have been doing some BX24 development again lately.  I have also been reading a lot about the new shell support that Microsoft has pre-released called PowerShell (formerly known as Monad).  Well since I have been using the same batch files and VBScript files to manage my build process for BasicX source since 2001 I thought it might be time to look at another alternative. 

I need to be able to do the following:
  • Perform command line compiles of the BX24 project
  • Allow for the source to reside anywhere on the hard drive and still be able to compile.
  • Initiate a compile of all BX24 projects so I do not have to do them one at a time
  • Parse the BasicX.err file to determine if the compiler found errors
  • Launch an editor that shows the BasicX.err file only when an error exists
  • Be able to manage some registry entries specific to the BasicX IDE
  • Have a limited set of scripts that do not require any changes to support the build process
  • Allow for multiple project files to co-exist in the same folder. This means I need to save off the BasicX.err file into another file if I want to preserve what the results where from the compile.

After reading some about PowerShell it was very apparent that it would support anything I needed to do.  The main huddle I needed to over come was learning the syntax that revolved around PowerShell.  Fortunately it is based on the .Net framework so the majority of it was fairly easy to adjust to. 

Since I already had a VBScript file that did most of the above tasks I started dissecting what it did first.  The last time I touched this script was in 2001.  The script did the pieces around changing the registry entries and launching the compiler but it had no support for parsing the error file and managing many project files.  Here is the script that I ended up with:

param ([string]$WorkingDirectory)
# Define some script variables$chip_type="BX24"
# Save the current dirrectory so we can return to it
Push-Location
# If a working directory was passed in lets change to it
If ($WorkingDirectory){Set-Location $WorkingDirectory}
# Get the project files to process
$projectFiles = Get-ChildItem *.bxp 
foreach ($project in $projectFiles){$project_file = $project.name.split(".")[0]
# Use the current directory as the working directory
$work_dir = $project.DirectoryName
# Set some registry entries for the basicx IDE
$configEntry = "hkcu:\software\vb and vba Program Settings\basicx\config"
Set-ItemProperty ($configEntry) -Name Chip_Type -value 
$chip_typeSet-ItemProperty ($configEntry) -Name Work_Dir -value 
$work_dir
# determine from the registry where the basicx executable is installed
$program_dir = Get-ItemProperty ($configEntry) -Name Install_Directory
# Map the P drive to the basicx install directory for convieniance
if (Test-Path p:) {}else {subst P: $program_dir.Install_Directory}
# Remove the error file if it exists
if (Test-Path basicx.err){del basicx.err}
if (Test-Path ($project_file + ".err")){del ($project_file + ".err")}
# Launch the compiler
P:\basicx.exe $project_file /c
# Wait for the compiler to finish
$processToWatch = Get-Process basicx$processToWatch.WaitForExit()
# Unmap P: drive
if (Test-Path p:){subst P: /d}
# Check for errors and launch the error file if some do exist
$CompileResult = get-content basicx.err
If (($CompileResult -match "Error in module").Length -gt 0){notepad basicx.err}
# Copy the error file off so it does not get overwritten when multiple
# projects are being compiled in a single directory
copy-item basicx.err -destination ($project_file + ".err")} 
# Restore the original location
Pop-Location

Well that was pretty painless.  I basically had a script that managed processing all BasicX project files in a given folder.  Next I needed to have another script that found all the project folders for a given folder.  This also meant processing projects in sub folders.  This higher level script would launch the script above to do the compile.  I ended up with the following script:

# Save the current dirrectory so we can return to it
Push-LocationSet-Location ..\
# Get a list of all projects
$project_Files = Get-ChildItem -recurse -include *.bxp | sort $_.DirectoryName$lastDir=""
foreach($project in $project_Files)
{
# Since we can have multiple projects in a folder and we send the
# working folder to the build script we want to skip folders we already
# processed
if ($lastdir -ne $project.DirectoryName)
{./tools/build $project.DirectoryName  $lastDir = $project.DirectoryName}}
Pop-Location

Well that too was pretty easy.  I am beginning to really respect the power of PowerShell.  I can do so much more than what I was able to do with VBScript and do it easier.  Later I will but together a sample BX24 project showing how I use these scripts and the folder structure I place them in.

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Robotics | Software

Using an alternative editor for the BasicX IDE

by mlinnen 7/16/2006 7:13:00 AM

Although the BasicX Integrated Development Environment works for writing, compiling and downloading source code for small quick projects once you start using it a lot for writing source code it tends to be lacking features.  However the folks at Netmedia were nice enough to allow for command line execution of their IDE to compile and download code.  This opens up the opportunity to use your favorite editor to write source code and launch the IDE via command line to compile the source.  I have been using these command line options since 2001 to make my development environment a little more to my liking.  In this blog post I will talk about how I manage the process and the tools I use.

First a couple notes about some things that might trip you up in using the command line options.  The BasicX IDE wants to know the base directory where your projects live.  This is ok if you want to manage this directory in the IDE every time you switch to another folder or if you only have one project.  However if you are like me you have many projects and you don't want to have to load up the IDE to change this base directory every time you work on one of them.  Next the chip setting for BX24 or BX01 is also set from the IDE and is needed for the command line compile.  I bounce back and fourth between projects that use one or the other chip so my IDE could be set for either one at any given time. 

Neither the base directory or the chip setting is offered as an option in the command line.  Although Netmedia does store these items in the Windows Registry so an external program can modify them before launching the command line compile.

So I created a vbscript that sets the IDE options and then calls the compiler.  The script accepts 3 parameters:
 1 (Required) - Project file
 2 (Optional) - /c
 3 (Optional) - /d

The script supports drag and drop capabilities so you can use it 1 of 2 ways. 
1 - Drag the project file onto the script
2 - Call the script from your editor or a batch file

I usually create a build.bat file that I just call from the text editor.  The build batch file is specific to the project that I am working on so I generally keep it in the main folder of my project.

I have included the script files along with a sample BX24 project so you can look at what I did and maybe make use of it for your own BasicX projects.

I also use a shareware text editor called TextPad.  This editor supports syntax highlighting and multiple documents.  The nice thing about it is that I can pass TextPad the project file and it can load up all the source modules that are associated with the project.  I often use a batch file to launch the textpad editor and open all the source code for the project.  I have also included this batch file in the bx24.zip so you can see how it is done.

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Robotics

Completed tutorial 1 and 2

by mlinnen 6/21/2006 3:49:32 PM

I just completed the MyTutorial1 and MyTutorial2 tutorials for the Microsoft Robotics Studio.  I used the Lego RSX 2.0 hardware for the tutorials.  I noticed a couple things that stumbled me for a short time.

Problem #1
When you launch the tutorials from the visual studio IDE the services never seem to communicate with the RSX.  I was able to get the service to work using the DSSHOST executable passing in the manifest file.  So I looked at the parameters that the IDE is passing to the DSHOST when you debug and it was using the contract command line option instead of the manifest option.  So I changed it to use the manifest and the service ran fine.

So change the command line debug argument -contract from:

-contract:"http://schemas.tempuri.org/2006/06/mytutorial1.html"
To:
-manifest:"C:\Microsoft Robotics Studio (June 2006)\samples\
MyTutorial1\MyTutorial1.manifest.xml"

And you should be able to launch the service from the IDE

Problem #2
On tutorial number two there is no step to add in the legorcxmotor service to the manifest, so the service never gets started correctly when you run the application from the IDE.  So add the following to the MyTutorial2.manifest.xml file:

      
<SERVICERECORDTYPE>
 <wsap:Contract>
  http://schemas.microsoft.com/robotics/2006/06/legorcxmotor.html
 </wsap:Contract>
</SERVICERECORDTYPE>

Overall I found the two tutorials informative. I at least got my feet wet with using the framework. I might try a few more tutorials before I attempt to write a driver for the BX24.

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Robotics

Microsoft Robotics group?

by mlinnen 6/20/2006 1:25:43 AM

Wow, did you know that Microsoft has a robotics group?  I just noticed that they released a Microsoft Robotics Studio.  I am downloading this technical preview now to check it out.  This to me is a huge leap for the robotics industry.  Putting the power of Microsoft development tools to build robotic applications is a win win solution.  I finally can merge my two passions of software development with Microsoft technologies and building robots!  I am very excited about this project.  Make sure you check out the Channel 9 video about the group.  Keep an eye open for your favorite robot somewhere in the background of the video.

Some projects the group is working on.

Key features of the platform

  • Concurrency and Coordination Runtime (CCR) - An asynchronous messaging library that makes managing state changes easy to the developer.
  • Robotic remote control via a web browser
  • Scripting robotic commands via jscript to create complex robot movements
  • Multiple hardware platforms.  Currently supporting Lego Mindstorms (RSX and NXT) and fischertechnik.
  • Support for 8, 16 and 32 bit processors
  • Separating state from behavior
  • DSS - A services layer
    • Support for service contract programming where multiple input or output devices can be used by simply altering what device is bound to the contract.  Example:  A contract could be established that controls the robots movement.  A keyboard device could be bound to the contract to provide the input that moves the robot.  Or a joystick device could be bound to the contract to provide the input to move the robot.  The point here is that support is in place for a pluggable architecture or re-usable components.
  • Subscribe publish model that allows for a lot of autonomous agents to react to state changes.  This promotes a decoupled environment.  You can create a published event like bumper touched and later build a component that subscribes to that event and reacts to it.  There can be multiple subscribers to the event. 
  • Model simulation - You can model your environment and run your software without any hardware.
  • Since the applications are service based you could distribute services across multiple machines. 
    • Example if I create a service that monitors my door bell and expose the service to the public you could subscribe to my service and perform some action when my door bell is rung.

Well I could go on and on about this new platform but I want to get started on using it.  I will first go through the tutorials to gain an understanding of how it works.  Luckly I have a Lego Mindstorms RSX kit.  After the tutorials are complete I will try extending the services to support a BX24 bassed hardware device.

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Robotics

Interfacing a PC to the outside world Part 2

by mlinnen 11/24/2005 11:26:00 AM

In Interfacing a PC to the outside world Part 1 I mentioned that I wanted to work on a set of articles to discuss interfacing your PC to the outside world.  In part 2 I am going to continue the series and talk about what my first connection to the outside world is going to be. 

 

There are a number of devices that are designed to communicate over I2C.  I2C is a serial interface developed in the 1980's at Phillips Semiconductor.  The architecture allows for multiple devices to co-exist on the same 2 wire bus.  You can get more information on the I2C bus at the following: http://www.esacademy.com/faq/i2c/. 

 

There are a considerable number of devices that support the I2C bus.  A compass can be used to determine direction.  A sonar module can be used to detect obstacles.  A motor controller can be used to drive motors on a robot.  A servo controller to drive hobby servo motors.  All of these I2C capable devices (and several more) can be found at www.acroname.com.  I have done some research on PC I2C devices but so far everything I have found is fairly expensive.  I believe I can make a device that will bridge the PC to I2C gap and open up the world of I2C devices to PCs.

 

So a .Net I2C library is going to be the first project that I will do.  The library will support communicating on the I2C bus to other devices.  The consumers of this library should not care how the I2C communication is actually implemented.  So the primary goal of this exercise is to architect a provider model for communicating to these devices.  The benefits of this model allows for different I2C providers to be used without affecting the consumers. 

 

The first provider I will be creating will be a micro controller RS232 I2C Provider.  This will be  a small device that sits between the PC and the I2C devices.  The micro-controller's job is to intercept the serial commands from the PC and convert them into I2C commands.  I will be using a BX24 from Netmedia as this micro controller.  Later I will create a parallel port I2C provider that can be used in place of the micro controller RS232 provider.

 

The PC to BX24 I2C solution is a little more expensive than I intended to start with.  However I have a few BX24s lying around from other projects so it won't take a dent out of my pocket.  Also I have a Deventech compass to try the library out on.  Besides I also intend to use the BX24 for other interfacing projects.

 

    

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Interfacing a PC to the outside world Part 1

by mlinnen 11/23/2005 1:15:00 AM
 

I have been reading some of the Coding4Fun articles that are on MSDN.  Several of the articles are focused on connecting your computer up to external devices and writing .Net code to interface with the devices.  This has always been a main interest of mine since I am interested in robotics and home automation.  The resent release of .Net 2.0 has made some nice features available for doing serial communications.  Also Microsoft has made the Visual Studio Express editions freely available for 1 year.  This makes up a great solution for the general hobbyist to play with software and hardware.  So I thought it was time that I start my own set of articles on building software and integrating it to hardware devices.

 

So I gave it some thought on where to begin.  What project will be a prime candidate?  How would I build the foundation so I could leverage different hardware solutions to a given interface problem.  So I decided on a few goals to keep in mind about the project:

  • Provide a solution to an interfacing problem that could be used in many projects.
  • Build the library using .Net 2.0.
  • The library should extract the consumer from any hardware implementation.
  • The library should be testable without hardware implementation. 
  • The library can use external pluggable components to fulfill the interface to the hardware itself.  So 3rd party components can be built and plugged into the library.

 

Stay tuned for a series of articles on this project

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.Net 2.0 Serial Port

by mlinnen 11/19/2005 8:53:00 AM

Hey looks like the new .Net 2.0 supports a serial class that makes serial communications a snap.

http://msmvps.com/coad/archive/2005/03/23/39466.aspx

I need to get going on some project to try this out.  Maybe a PC to BX24 project that will be useful in my house.  I need to give it some thought. 

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Robotics

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