Virtual Substrate

Virtual Substrate is a simulation of the real robot running in the physical world. It has a virtual robot that runs on tiles obtaining simulated sensor information. Rules, states and speed for the virtual robot are determined using the same facilities available for the physical robot (ie Rule Editor, State Editor and Control Box respectively).

Virtual Substrate consists of the Map Editor Window and the Robot Simutaltion Window. The Map Editor is used to build a virtual map and Robot Simulation is a window where one can watch the robot run on a particular tile in the map.

An example of these windows are shown below. On the upper right corner, an empty map is shown. Next is an exmple of a filled map. The Robot Simulation window displays a close-up of the tile in the Map Editor chosen by using the cursor. Finally, the robot is placed on the tile.

Each Altaira window has a menu bar at the top. Click here for information regarding the menu bar for virtual substrate.

Virtual Substrate Windows
Empty Map	Sample Map
Tile Display	Robot on Tile

Building a Map

The Mapeditor window has a selection of tiles displayed at the top. To build a map, click on a chosen tile, move the cursor to a location on the map, and click again.

Placing the robot

You've probably noticed by now as the map is being built, a magnified version of the "current" tile is being displayed. Use this property of the Map Editor window to select a tile to begin simulation. An example is shown:

Once you've decided upon a tile, move the cursor on the Robot Simulation window, click and watch as the robot appears. The position of the robot can be turned around by using the middle button of the mouse. When the robot is placed, the Altaira system is ready to begin simulation.

Begin Simulation

The Virtual Substrate is exited when the user selects Quit from Virtual Substrate file menu.

An Example Map

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Menu Bar

File Pull Down Menu:

Virtual Substate has several file options:

• New - refreshes the Map Editor window
• Load - loads a previously saved map
• Save - saves a map
• Save As - saves a map with a new file name
• Close - Closes Virtual Substrate

"Load", "Save" and "Save As" prompts the user for information regarding file names.

Toggle Button:

The Map Editor menu bar has a toggle button next to the file pull down menu. When the toggle is set to 'Edit', the map may be updated. When the toggle button is set to 'Set Current', the tile may be selected to indicate where the simulation should begin.

Virtual Substrate Toggle Button

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