Module Design Focus Intro

(1) Explain reusable modular programming frameworks.

• Reusable modular programming frameworks refer to a collection of software modules designed for use in robotic applications. These frameworks provide standardized, interchangeable components that can be used across automated systems, enhancing development efficiency, scalability, and maintainability.

(2) Explore examples of modular programming functions.

• Hardware Abstraction: These frameworks often include modules that abstract hardware details, allowing software to interact with different types of robotic hardware without needing to be rewritten. This is particularly useful in robotics, where hardware can vary widely between systems.
• Control Algorithms: They may include libraries for common control algorithms used in robotics, such as path planning, obstacle avoidance, and motion control. These can be reused across different robots, saving time and effort in development.
• Sensory Processing: Modules for processing input from various sensors (like cameras, lidars, or ultrasonic sensors) are common. These modules can interpret sensor data, making integrating perception capabilities into a robot easier.
• Simulation Tools: Simulation modules allow for testing robotic systems in a virtual environment. This is crucial for robotics, where real-world testing can be time-consuming and costly.
• Communication Protocols: They often include standardized protocols for communication between different parts of a robotic system or between the robot and external systems. This ensures that other components can effectively share information and work together.
• AI and Machine Learning: With the growing importance of AI in robotics, these frameworks frequently include modules for implementing machine learning algorithms, enabling robots to learn from data and improve their performance over time.
• User Interface Tools: These frameworks commonly use tools to develop user interfaces for controlling or monitoring robots, allowing for easier interaction between humans and robots.
• Safety and Compliance: Modules that ensure safety compliance, especially in industrial settings, are often included. These can manage safety protocols and ensure the robot operates within the regulatory frameworks.

(3) Discuss use cases from past challenges where functions would help.

Examine Gripper Control Challenge

(1) Introduce a multi-stage pick-and-place problem and specifications

• In teams, students analyze the details of starting conditions, required process order involving distinct positioning behaviors, and final placement criteria.
• The workspace has three pick-up areas: #1 (x,y) - #2 (x,y) - #3 (x,y). Each area can contain something unique for added difficulty or something uniform for simplicity.
• The workspace also has three drop zones: A (x,y,z) - B (x,y,z) - C (x,y,z) that will require different positions for each item.
• Order the pick-ups and final configurations to simulate a realistic workflow.
• Objects should have distinct shapes affecting valid gripper approach angles.
• Provide diagrams, 3D renders, measurement references, process order constraints, scoring rubrics, and other documentation fully detailing the multi-stage goals to accomplish the pick-and-place operations.

(2) Brainstorm a range of needed gripping, approaching, and alignment functions as a class.

(3) Have teams draft prototypes of two modular programming solutions in their engineering notebooks. Teams must include the following:

• Flowchart of logic
• Pseudocode of the modular function
• Usability analysis

Lecture & Demo Modular Coding Methods with the ORA Editor

(1) Show examples of implementing generalized robot task functions

• Demonstration of Level 3 ORA blocks
• Each block is designed as part of a modular programming framework within a block-based programming environment. Block programming could be considered a modular programming framework itself.

(2) Discuss best practices for function development and documentation

(3) Walk the class through a tutorial for creating a module: dropzoneapproach()

Implementation Activity

(1) Form teams of two or three

• Self-assign roles: 2x programmer, 1x annalist

(2) Discuss the three additional modular capability functions:

• pickupapproach(x,y)
• approach_angle(x,y,z)
• height_align(z)

(3) Consider providing ORA Editor Share Codes for starter code templates for each modular function.

Peer Code Review & Reflection

(1) Teams exchange & assess each other's modules based on the criteria:

• Clarity and Reusability
• Comments, Documentation, Efficiency

(2) Reflect on feedback and discuss suggested improvements

(3) Write a summary of modular programming frameworks' benefits, drawbacks, and pending questions using the 3-2-1 model. In the engineering notebook, complete the following:

• 3x benefits of modular programming frameworks
• 2x drawbacks of modular programming frameworks
• 1x pending question about modular programming frameworks