Build Better Robots Faster. Radim ŠTEFAN

Transcription

1 Build Better Robots Faster Radim ŠTEFAN

2 What is Virtual Instrumentation?

3 Speed Development with Graphical Programming LabVIEW C* LabVIEW C * * does not include code to generate UI

4 High-Level Design Tools Configuration Textual Math Simulation Statechart LabVIEW Graphical System Design Linux Macintosh Windows Real-Time FPGA MPU Desktop Platform Embedded Platform Tux penguin is courtesy of Larry Ewing. Linux is the registered trademark of Linus Torvalds in the U.S. and other countries.

5 Education Fixed-base (Lab/Industry) Autonomous Mobile Lego NXT Toolkit, Education Edition, LabVIEW for FRC New! LabVIEW Robotics January 11 th, 2010 LabVIEW Toolkit for Denso Robots November 25 th, 2009 New! LabVIEW Robotics January 11 th, 2010

6 Overview of a Simple Mobile Robot

7 LabVIEW Robotics 2009Software Bundle

8 Sensing Connectivity MobileRobots, Skilligent, Cogmation Protocols JAUS, NMEA, FPGA Path Planning Obstacle Avoidance Steering Robotic Arm Open Source Robotics Toolbox Download additional algorithms

9 Sensor Drivers IR Sensors GPS Sensors LIDAR Sensors Stereo Vision Radar Sensors

10 Program: Simple Mobile Robot Step 1: Sense Acquire Hokuyo LIDAR Data Step 2: Think Obstacle Avoidance (Vector Field Histogram) Step 3: Act Drive Motors

11 NI Robotics Hardware NI CompactRIO FPGA-based Reconfigurable I/O, Programmable Hardware I/O I/O I/O I/O NI Single-board RIO Real-Time Controller Real-Time Processor I/O FPGA I/O I/O I/O Connectivit y SignalCon d. ADC

12 NI Single-Board RIO Board-level embedded controller Integrated FPGA and real-time processor Built-in analog and digital I/O, can be expanded with I/O modules NI CompactRIO Embedded controller with rugged, mechanical enclosure Integrated FPGA and real-time processor Includes modules for robotics-specific I/O NI Robot Starter Kit Robot kit based on NI Single-Board RIO Includes ultrasonic sensor, motors, encoders, battery, and charger Performs basic obstacle avoidance out of the box

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14 Blind Driver Challenge Building a Semiautonomous Vehicle Driven by the Visually Impaired with LabVIEW and CompactRIO (by Virginia Tech)

15 DARPA Urban Challenge Autonomously navigate 60 mile urban environment Safely navigate around obstacles/barriers Safely interact with other UGV and manned vehicles at stop signs during passing, parking Follow all traffic laws l

16 LabVIEW / RIO for Robotics Unified tools, productive and effective results Do-it-yourself Fragmented approach, ineffective results Finished 3rd place with just 10% funding of other teams

17 VECNA BEAR (Battlefield Extraction-Assist Robot) NI CompactRIO Controller (in-body) NI LabVIEW software design

18 Underwater Dredging System: Nexans Spider Application Level the Seabed Floor to lay a pipeline from the Orman-Lange Natural Gas Field to the UK. Develop HMI, remote-control interface, heave compensation and power controls Challenges 1000 meters below sea-level, strong currents, uneven terrain, constrained time and budget Key benefits Rapid development software across multiple computing platforms, rugged embedded platform "The LabVIEW platform has helped Nexans develop a system that is easy to maintain due to the consistent programming paradigm for both HMI and embedded control with CompactRIO, even in extreme conditions."

19 David Barrett, Ph.D. Director, SCOPE program at Olin College Former VP of Engineering, irobot Former Director, Walt Disney Imagineering Corp. Research Engineer, MIT AI Lab Technical Director, Draper Lab 9 patents in robotic systems I have spent 15 years looking for a good robotics software development environment, I have evaluated everything on the market and LabVIEW is clearly, hands-down the best.

20 ni.com/robotics