JCSPre: the Robot Edition to Control LEGO NXT Robots

Kerridge, Jon; Panayotopoulos, Alex; Lismore, Patrick

Abstract

JCSPre is a highly reduced version of the JCSP (Communicating Sequential Processes for Java) parallel programming environment. JCSPre has been implemented on a LEGO Mindstorms NXT brick using the LeJOS Java runtime environment. The LeJOS environment provides an abstraction for the NXT Robot in terms of Sensors, Sensor Ports and Motors, amongst others. In the implementation described these abstractions have been converted into the equivalent active component that is much easier to incorporate into a parallel robot controller. Their use in a simple line following robot is described, thereby demonstrating the ease with which robot controllers can be built using parallel programming principles. As a further demonstration we show how the line following robot controls a slave robot by means of Bluetooth communications.

• Presentation Conference Type: Conference Paper (Published)
• Conference Name: 31st Communicating Process Architectures Conference, CPA 2008
• Start Date: Sep 7, 2008
• End Date: Sep 10, 2008
• Publication Date: 2008
• Deposit Date: Jul 19, 2019
• Publisher: IOS Press
• Pages: 255-270
• Series Title: Concurrent Systems Engineering Series
• Series Number: 66
• Series ISSN: 1383-7575
• Book Title: Communicating Process Architectures 2008
• ISBN: 978-1-58603-907-3
• DOI: https://doi.org/10.3233/978-1-58603-907-3-255
• Keywords: JCSPre; JCSP; Java; robot controllers; parallel programming
• Public URL: http://researchrepository.napier.ac.uk/Output/1978579