[Shelley Gretlein]

Senior Group Manager
Real-Time and Embedded Software
Robotics Strategist
National Instruments
[Shelley Gretlein]
the next 40 minutes…
• “Sense, Think, Act” introduction
• Sense the world around you
– sensor basics
• Think
– algorithms
– architectures
• Act on decisions
– motion control basics
– drive systems
[sample robotics system architecture]
Think
Sense and Act
think
sensors 101
sense
act
Infrared (IR) Sensors
Optical Encoders
CMOS Sensor
Global Positioning System
Radar
Stereo Vision
Inertial Measurement Unit
LIDAR
http://www.creativerobotics.com
think
sense
PHOTORESISTORS
PHOTOVORE ROBOTS
act
think
sonar sensors
sense
act
think
sonar sensors
sense
act
think
sense
act
High Definition Lidar HDL-64E Sensor
Bruce Hall, Velodyne Lidar, Inc.
think
DARPA Grand Challenge - Team DAD
sense
“Team DAD delivered
true innovation.”
- Popular Science
act
think
HDL-64E Technical Details
sense
act
• 64 lasers
• 1.33M pixels / sec.
• 360° Horizontal FOV
• 28.6° Vertical FOV
• Range: 120M
• 5 – 15 Hz frame rate
• Distance, intensity data
• Class 1 eye safe
Lidar Street Imaging
• Rings indicate laser paths
• Colors indicate elevation change
Urban Challenge - CMU Route Planning
3D Road Mapping
Images courtesy of Mandli Communications
Making Radiohead’s “House of Cards”
Production group with Thom Yorke and
Colin Greenwood of Radiohead
Rick Yoder from Velodyne preparing
for the shoot
Radiohead’s Grammy Nominated “House of Cards”
agilesystems.com
LabVIEW, LIDAR and Radiohead
using sensors
Environment
using sensors
Environment
voltage =
data*(5 V)/212
IMU Example
[sense example: sensor fusion]
LIDAR + high-resolution color camera
think
planning and navigation
• path planning
• obstacle avoidance
Voronoi Graph in NI LabVIEW
mapping and localization (SLAM)
Behavior-based
navigation
Map-based
navigation
Kalman filters
Kalman filters
Robot
Position
Prediction
Observation
Measurement
Prediction
Matching
Estimation
Photograph graciously donated by Brian Powell, LabVIEW Architect and photographer
[think example: DARPA Urban Challenge]
TORC Technologies and Virginia Tech “Odin” Vehicle
act
motors
maxonmotor.com
field oriented control (FOC)
improve your motor control efficiency
FOC algorithms, with LabVIEW FPGA can transform an existing motor control
system into a high-performance, high-efficiency machine or robot.
FIRST…..
FIRST Robotics
Competition
act algorithms
• Real-Time Motion Control
• Kinematics
– Forward Kinematics
– Inverse Kinematics
[act example: VECNA BEAR]
Sophisticated LabVIEW and NI CompactRIO-based hydraulic control
[desperate need for a unified robotics platform]
•
•
•
•
•
•
•
•
•
•
•
•
•
Sensor driver development
Data fusion
Filtering
Feature extraction
Search algorithm design
Planning and mapping
Artificial intelligence
Vision learning
Algorithm engineering
Real-time motion control
Mechanical design
Inverse kinematics
…
32
“NIcholas”
LabVIEW and SingleBoard RIO-based Autonomous System
“NIcholas”
LabVIEW and SingleBoard RIO-based Autonomous System
ni.com/robotics