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4 <br />
<br />
Microsoft Robotics Studio<br />
MSRS<br />
3D<br />
<br />
<br />
<br />
<br />
2<br />
Visual Programming LanguageVPL<br />
<br />
VPL<br />
<br />
<br />
<br />
Decentralized Software<br />
ServicesDSS2<br />
Partner<br />
Service<br />
MSRSDSS<br />
<br />
<br />
<br />
<br />
<br />
<br />
Microsoft Robotics Studio<br />
81
Prototype<br />
<br />
<br />
<br />
<br />
<br />
Manifest<br />
<br />
<br />
<br />
<br />
<br />
Infrared Detector<br />
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MSRS<br />
Visual Simulation<br />
EnvironmentVSE<br />
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4-1<br />
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82<br />
VSE<br />
VSE
4<br />
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4-1<br />
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VSE<br />
PixelVertex Shaders<br />
<br />
vertex shader VS_2_0pixel shader PS_2_0<br />
DirectX version 9<br />
MSRS<br />
VSEBasic Simulation EnvironmentHelp<br />
About Microsoft Visual Simulation Environment4-2<br />
<br />
TipMSRShttp://channel9.msdn.<br />
com/wiki/default.aspx/Channel9.SimulationFAQ<br />
VSE<br />
http://www.techpowerup.com/gpudb/<br />
Microsoft Robotics Studio<br />
83
4-2 About Microsoft Visual Simulation Environment<br />
<br />
MSRS<br />
VSEMSRS<br />
VSE<br />
DirectX 9<br />
<br />
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<br />
<br />
<br />
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HelpAbout Microsoft Visual Simulation<br />
Environment<br />
AGEIA PhysX Card<br />
MSRSAGEIA PhysXAGEIA PhysX<br />
MSRSAGEIA<br />
AGEIAhttp://www.ageia.comPhysX<br />
299Radio Shack<br />
Fry’s Electronics<br />
TigerDirect.com145 <br />
84
4<br />
Tip<br />
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<br />
PhysX<br />
No<br />
physics hardware present, using software physics.<br />
AGEIA<br />
AGEIA PhysXWindows Vista<br />
AGEIA PhysX<br />
AGEIA PhysX CardPhysX<br />
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<br />
VSE<br />
Frames per secondFPS<br />
<br />
<br />
<br />
VSEFPS<br />
58<br />
<br />
Note<br />
LCD59CRT60<br />
<br />
Basic Simulation EnvironmentMSRS<br />
FPS58FPSFPSView<br />
Status Bar<br />
Simulation Environment with TerrainFPS<br />
Microsoft Robotics Studio<br />
85
FPS<br />
Simulation Environment with Terrain4-3<br />
<br />
<br />
Render<br />
<br />
4-3MSRSSimulation Environment with Terrain<br />
<br />
Render<br />
No Rendering<br />
Simple DashboardLog Messages<br />
<br />
86<br />
DssNodeManifest<br />
VSE2<br />
Manifest<br />
Manifest<br />
Partner
4<br />
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http://schemas.microsoft.com/robotics/2006/04/<br />
simulationengine.html<br />
<br />
IRobot.Create.Simulation.xml<br />
StateService<br />
<br />
TipDSS<br />
DssInfoMicrosoft Robotics StudioCommand<br />
PromptMSRS, version 1.5<br />
DssInfo C:\Microsoft Robotics Studio 1.5\bin\simulationengine.proxy.dll<br />
PortSet<br />
Microsoft Robotics StudioRun Dss Node<br />
<br />
Simulation Engine Service<br />
<br />
MSRSMicrosoft Robotics Studio<br />
Visual Simulation Environment<br />
VSEMSRSMSRS 1.5<br />
<br />
Basic simulation environment <br />
<br />
VSE<br />
\samples\<br />
SimulationTutorials\Tutorial1<br />
Tutorial1<br />
IRobot Create simulation iRobot Create<br />
ManifestiRobot.Create.Simulation.<br />
Manifest.xmlSimpleDashboard.Manifest.xmlMSRSSimple<br />
Dashboard<br />
\samples\misc\SimpleDashboard<br />
Simple Dashboard<br />
Microsoft Robotics Studio<br />
87
KUKA LBR3 Arm simulation Tutorial 4KUKA LBR3<br />
<br />
Simple Dashboard<br />
\samples\SimulationTutorial4KUKA LBR3<br />
Arm<br />
TipKUKA<br />
http://www.kuka.com/usa/en/products/software/<br />
educational_framework/KUKAKUKA<br />
<br />
LEGO NXT Tribot simulation LEGO NXT Tribot<br />
\samples\<br />
SimulationTutorials\Tutorial6MSRS1.5<br />
http://msdn2.microsoft.com/en-us/library/bb483043.<br />
aspx<br />
Multiple simulated robots Tutorial 2Pioneer 3DX<br />
LEGO NXT TribotSimple DashboardDrive Services<br />
<br />
\samples\SimulationTutorials\Tutorial2<br />
<br />
Pioneer 3DX simulation Pioneer 3DX<br />
<br />
Pioneer 3DX<br />
<br />
Simple Dashboard<br />
<br />
Simulation environment with terrain <br />
Pioneer 3DX<br />
<br />
88
4<br />
MeshMesh Object File<br />
\samples\<br />
SimulationTutorials\Tutorial5<br />
NoteMSRS\samples\Simulation-<br />
TutorialsTutorials 1245Tutorials 124<br />
5MSRSHelpMSRS<br />
<br />
DssNodeManifest<br />
VSEVSE<br />
3D<br />
<br />
<br />
TipMSRSVisual<br />
StudioSolution FileMSRS<br />
Strong Name Signing<br />
<br />
Microsoft Robotics Studio1.5<br />
Visual Simulation EnvironmentProperties<br />
<br />
ManifestiRobot<br />
Create simulationManifestIRobot.Create.Simulation.Manifest.xml <br />
SimpleDashboard.manifest.xml<br />
<br />
Visual Studio<br />
Simple Dashboard<br />
MSRSSimple<br />
DashboardWindows4-4<br />
DSS<br />
Microsoft Robotics Studio<br />
89
Simple DashboardDashboard<br />
MSRSDashboard<br />
4-4 Simple DashboardMSRSMiscellaneous<br />
Windows<br />
<br />
TipDashboardDashboard<br />
VSE<br />
Dashboard<br />
DSSDashboardMachine<br />
localhostConnectService Directory<br />
<br />
Manifest<br />
<br />
Simulated Differential Drive Service<br />
iRobot CreatePioneer 3DX<br />
Available ServicesDrive Service<br />
90
4<br />
Drive<br />
<br />
TipXbox 360MSRS<br />
XInput Controller Service<br />
KUKA LBR3<br />
Available<br />
ServicesSimulated LBR3 Arm ServiceSimple<br />
DashboardKUKA LBR3 simulation<br />
<br />
Pioneer 3DX<br />
<br />
<br />
Simple DashboardLog<br />
Log FileMSRS<br />
StoreXMLDSS<br />
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<br />
<br />
<br />
Note<br />
0Bytes<br />
Simple Dashboard<br />
MSRSSimple Dashboard<br />
Ben Axelrod<br />
Corowarehttp://www.coroware.comSimple Dashboard<br />
4-5http://<br />
Microsoft Robotics Studio<br />
91
www.benaxelrod.com/MSRS/index.html<br />
MSRS<br />
4-5Ben AxelrodSimple Dashboard<br />
Ben Axelrod<br />
Ben Axelrod4-6<br />
LEGO Mindstorms system27Axelrod<br />
<br />
4-6Ben AxelrodCoroware<br />
LEGO Mindstorms Novice Hall of Famehttp://mindstorms.lego.com/eng/<br />
inventions/default.aspMicrosoft, Iguana Robotics Inc.Coroware<br />
92
4<br />
2003Syracuse University<br />
Georgia Institute of Technology<br />
AxelrodLEGO Hall of Fame<br />
<br />
AxelrodIllinois<br />
Axelrodhttp://www.<br />
benaxelrod.com/robotvideo/index.html<br />
<br />
<br />
<br />
<br />
Simple Dashboard<br />
Localhost ValueDirect Input Device<br />
Direct Input<br />
DeviceDashboard<br />
<br />
Dashboard<br />
<br />
<br />
<br />
<br />
http://www.benaxelrod.com/MSRS/index.html<br />
DashboardMSRS<br />
\samples\misc<br />
SimpleDashboard<br />
SimpleDashboard<br />
Visual Studio<br />
Simple Dashboard<br />
Dashboard<br />
Microsoft Robotics Studio<br />
93
Note<br />
SickLRFVisual StudioSimple-<br />
Dashboard<br />
<br />
VSEDSS<br />
4-7<br />
<br />
Render<br />
Exposure 0<br />
<br />
Antialiasing <br />
<br />
<br />
<br />
<br />
<br />
Rotation Movement Scale <br />
1<br />
<br />
Translation Movement Scale Rotation Movement Scale<br />
<br />
<br />
Quality Level <br />
VSEVSE<br />
<br />
94
4<br />
4-7<br />
<br />
Physics<br />
<br />
9.81<br />
<br />
<br />
<br />
MSRS<br />
Microsoft DirectX SDKMicrosoft XNA<br />
FrameworkAGEIA PhysX SDK<br />
3D<br />
3D<br />
XYZMSRS<br />
Z4-8XYZ<br />
<br />
Microsoft Robotics Studio<br />
95
Y<br />
X<br />
Z<br />
4-8Z<br />
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Y<br />
<br />
T i p<br />
Trevor Taylorhttp://sky.fit.qut.edu.au/~taylort2/MSRS/MazeSimulator/<br />
MazeSimulator.htmTaylorQueensland University of<br />
TechnologyMSRS<br />
MSRShttp://sky.fit.qut.<br />
edu.au/~taylort2/MSRS/<br />
<br />
Entity<br />
<br />
<br />
<br />
<br />
Pioneer 3DX<br />
<br />
96
4<br />
<br />
Web<br />
Visual Simulation EnvironmentSimulation Tutorial 2<br />
<br />
Webhttp://localhost:50000/<br />
simulationtutorial2<br />
WebXMLState<br />
Web<br />
4-9<br />
FPS<br />
MSRS<br />
4-2<br />
MSRS<br />
TipVSEFPS<br />
ViewStatus BarFPS<br />
CPU<br />
<br />
4-9WebSimulation Tutorial 2<br />
Microsoft Robotics Studio<br />
97
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