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Similar to 利用 Lab View 進行整合式機器人系統概念教學
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利用 Lab View 進行整合式機器人系統概念教學
- 1. 利用 LabVIEW進行整合式機器人系統概念教學 吳維翰 / John
- 2. About Me 學歷: 美國麻省 Tufts University 機械工程系學士、碩士 (2002, 2004) 畢業論文: The Development of Well-Defined 3D Biomaterial Scaffolds for Cellular Growth Studies Using a Micromolding Approach 經歷: 美商國家儀器 應用工程師 美商國家儀器 教育訓練課程 講師 美商國家儀器 行銷工程師 美商國家儀器 新竹縣業務工程師 台灣區機器人競賽 WRO，FLL 技術裁判 現職: 美商國家儀器 行銷部技術經理 吳維翰 / John 行動電話: 0910-611-802 電子郵件: wei-han.wu@ni.com
- 3. Robotics Engineering Integration of many curriculums Mechanical, electrical, computer engineering Worldwide robotics market is big! Challenge: depth and breadth
- 4. Pain points from educators Cannot teach “system design” in short time Isolation of different fields Cannot deploy to embedded hardware No defined curriculum
- 5. What can we deliver? C Code Dataflow Textual Math Simulation Statechart System-leveltools for design Integrated platform Direct deploy to embedded systems
- 6. What can we deliver? System-leveltools for design Integrated platform Direct deploy to embedded systems FPGA LabVIEW Desktop Microprocessors Real-Time
- 7. What can we deliver? PXI Systems System-level tools for design Integrated platform Direct deploy to embedded systems Custom Design Personal Computers CompactRIO SB RIO
- 9. In reality… Really messy Lots of stuff to integrate And you don’t even know if it works Need to simply the problem Levels of abstraction Don’t get lost in the “details”
- 11. The graphical approach Vision Ultrasonic Microphone GPS LIDAR Object Tracking Avoidance SLAM Navigation PID PWM Closed-loop control Fuzzy Control Adaptive Control
- 12. Example: LEGO NXT Vision Tracking
- 13. The graphical approach Acquire Image Analyze Position PID Control
- 14. The graphical approach (con’t) Multi-rate loops Watchdog Timer Sensor #1 Fuzzy Control Σ Sensor #2 Sensor Fusion Algorithm Sensor #3 PID Control Inverse Kinematics
- 15. Holonomic Robot Case Study
- 16. Case study: holonomic robot Rotation matrix calculation Simultaneous PID for 4 motors Laser rangefinder for obstacle avoidance Navigation planning Wireless communicationand HMI In order to do this, you MUST look at the entire system
- 17. Acquiring Hokuyo Sensor data PID closed-loop control, 4 motors Rotation Matrix Calculation Obstacle Avoidance Wireless control, USB joystick interface (PC)
- 18. NTU example 羅仁權 博士 國立台灣大學電機工程學系教授 台灣機器人學會理事長
- 19. The Challenge Robots start at “Start Point” Navigate to Waypoint 1. Wait for 5 seconds. Navigate to Waypoint 2. Wait for 5 seconds. Navigate back to “Start Point” Penalties: Touch cone Touch wall Reset robot
- 20. NTU movie
- 21. Results 13 student surveys 此實習課程有沒有讓您對機器人技術系統整合更加了解? 13 responded yes Other feedback: 易上手，programming easy 將所有部份整合一起時，資源安排和流程分配需要多加考慮
- 22. Conclusion Cannot Can teach “system design” in short time Isolation Integration of different fields Cannot Can deploy to embedded hardware
- 23. Coming soon: LabVIEW Robotics 2009
- 24. FIRST Robotics Competition Selects National Instruments CompactRIO for Next-Generation Robot Control System Over 50,000 High School Students to use cRIO, powered by NI LabVIEW
Editor's Notes
- For the 2009 competition, FIRST Robotics will standardize on LabVIEW & cRIO for their next generation Mobile Device ControllerImpact of the New Controller Key Points: Next-generation control system enables students to build more sophisticated robotics systemsSolve more complex challengesHands-on learning helps connect theory and the real world.Industry-standard technology means students gain knowledge for university studies and professional careersDiscuss that NI will provide the product that will be the standard for FTC and FRC