{"id":357,"date":"2017-10-26T17:11:09","date_gmt":"2017-10-26T17:11:09","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/?page_id=357"},"modified":"2017-11-10T06:11:07","modified_gmt":"2017-11-10T06:11:07","slug":"system-design-20171026","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/project\/system-design-20171026\/","title":{"rendered":"System Design 10\/26\/2017"},"content":{"rendered":"<h4>Functional Architecture<\/h4>\n<figure id=\"attachment_462\" aria-describedby=\"caption-attachment-462\" style=\"width: 1024px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-462 size-large\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-1024x640.png\" alt=\"\" width=\"1024\" height=\"640\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-1024x640.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-300x188.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-768x480.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-830x519.png 830w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-230x144.png 230w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-350x219.png 350w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026-480x300.png 480w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-functional-architecture-20171026.png 1411w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption id=\"caption-attachment-462\" class=\"wp-caption-text\">Functional Architecture<\/figcaption><\/figure>\n<p>&nbsp;<\/p>\n<h4>Cyberphysical Architecture<\/h4>\n<figure id=\"attachment_461\" aria-describedby=\"caption-attachment-461\" style=\"width: 923px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-461 size-full\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026.png\" alt=\"\" width=\"923\" height=\"542\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026.png 923w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-300x176.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-768x451.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-830x487.png 830w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-230x135.png 230w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-350x206.png 350w, https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/10\/project-cyberphysical-architecture-20171026-480x282.png 480w\" sizes=\"auto, (max-width: 923px) 100vw, 923px\" \/><figcaption id=\"caption-attachment-461\" class=\"wp-caption-text\">Cyberphysical Architecture<\/figcaption><\/figure>\n<p>The focus of the project is to map an entrapment scenario and liberate the entrapped rover.<\/p>\n<p>The rescuing operation would carried out by a peer-rover that is able to capture <em><strong>a 2nd person perspective of the scenario.\u00a0<\/strong><\/em><\/p>\n<p>The entrapped rover is alternatively referred to as a stuck rover and the peer-rover that sets about to the rescue to the stuck rover is called a rescue rover or a rescuer.<\/p>\n<p>&nbsp;<\/p>\n<p>A rover&#8217;s mathematical model (kinematics) are as follows:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-612\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-content\/uploads\/sites\/30\/2017\/11\/Robot-description.jpg\" alt=\"\" width=\"801\" height=\"634\" \/><\/p>\n<p>Therefore, given its pose [x, y,\u00a0\u0398] we can control the actuators by using corresponding homogeneous transformations.<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Functional Architecture &nbsp; Cyberphysical Architecture The focus of the project is to map an entrapment scenario and liberate the entrapped rover. The [&hellip;]<\/p>\n","protected":false},"author":118,"featured_media":0,"parent":212,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-357","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/357","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/users\/118"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/comments?post=357"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/357\/revisions"}],"predecessor-version":[{"id":765,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/357\/revisions\/765"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/pages\/212"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teami\/wp-json\/wp\/v2\/media?parent=357"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}