利用 Lab View 進行整合式機器人系統概念教學

Feb 4, 20101 like1,772 views

This document discusses using LabVIEW to teach integrated robotics system concepts. It talks about the challenges of teaching robotics due to the breadth of fields involved like mechanical, electrical, and computer engineering. It proposes using LabVIEW and graphical system design tools to allow teaching robotics at a system level and deploying directly to embedded hardware. It provides examples of using these tools to implement vision tracking, obstacle avoidance, and holonomic robot control. Surveys of students found this approach helped them better understand robotics system integration.

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

Robotics EngineeringIntegration of many curriculumsMechanical, electrical, computer engineeringWorldwide robotics market is big!Challenge: depth and breadth

Pain points from educatorsCannot teach “system design” in short timeIsolation of different fieldsCannot deploy to embedded hardwareNo defined curriculum

What can we deliver?C CodeDataflowTextual MathSimulationStatechartSystem-leveltools for designIntegrated platformDirect deploy to embedded systems

What can we deliver?System-leveltools for designIntegrated platformDirect deploy to embedded systemsFPGALabVIEW DesktopMicroprocessorsReal-Time

What can we deliver?PXI SystemsSystem-level tools for designIntegrated platformDirect deploy to embedded systemsCustom DesignPersonal ComputersCompactRIOSB RIO

In reality…Really messyLots of stuff to integrateAnd you don’t even know if it worksNeed to simply the problemLevels of abstractionDon’t get lost in the “details”

The graphical approachVisionUltrasonicMicrophoneGPSLIDARObject TrackingAvoidanceSLAMNavigationPIDPWMClosed-loop controlFuzzy ControlAdaptive Control

The graphical approachAcquire ImageAnalyze PositionPID Control

The graphical approach (con’t)Multi-rate loopsWatchdog TimerSensor #1Fuzzy ControlΣSensor #2Sensor Fusion AlgorithmSensor #3PID ControlInverse Kinematics

Case study: holonomic robotRotation matrix calculationSimultaneous PID for 4 motorsLaser rangefinder for obstacle avoidanceNavigation planningWireless communicationand HMIIn order to do this, you MUST look at the entire system

Acquiring Hokuyo Sensor dataPID closed-loop control, 4 motorsRotation Matrix CalculationObstacle AvoidanceWireless control, USB joystick interface (PC)

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

The ChallengeRobots 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 coneTouch wallReset robot

Results13 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 yesOther 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

ConclusionCannot Can teach “system design” in short timeIsolation Integration of different fieldsCannot Can deploy to embedded hardware

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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 EngineeringIntegration of many curriculumsMechanical, electrical, computer engineeringWorldwide robotics market is big!Challenge: depth and breadth

4. Pain points from educatorsCannot teach “system design” in short timeIsolation of different fieldsCannot deploy to embedded hardwareNo defined curriculum

5. What can we deliver?C CodeDataflowTextual MathSimulationStatechartSystem-leveltools for designIntegrated platformDirect deploy to embedded systems

6. What can we deliver?System-leveltools for designIntegrated platformDirect deploy to embedded systemsFPGALabVIEW DesktopMicroprocessorsReal-Time

7. What can we deliver?PXI SystemsSystem-level tools for designIntegrated platformDirect deploy to embedded systemsCustom DesignPersonal ComputersCompactRIOSB RIO

8. A robot simplified…

9. In reality…Really messyLots of stuff to integrateAnd you don’t even know if it worksNeed to simply the problemLevels of abstractionDon’t get lost in the “details”

10. The graphical approach

11. The graphical approachVisionUltrasonicMicrophoneGPSLIDARObject TrackingAvoidanceSLAMNavigationPIDPWMClosed-loop controlFuzzy ControlAdaptive Control

12. Example: LEGO NXT Vision Tracking

13. The graphical approachAcquire ImageAnalyze PositionPID Control

14. The graphical approach (con’t)Multi-rate loopsWatchdog TimerSensor #1Fuzzy ControlΣSensor #2Sensor Fusion AlgorithmSensor #3PID ControlInverse Kinematics

15. Holonomic Robot Case Study

16. Case study: holonomic robotRotation matrix calculationSimultaneous PID for 4 motorsLaser rangefinder for obstacle avoidanceNavigation planningWireless communicationand HMIIn order to do this, you MUST look at the entire system

17. Acquiring Hokuyo Sensor dataPID closed-loop control, 4 motorsRotation Matrix CalculationObstacle AvoidanceWireless 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 ChallengeRobots 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 coneTouch wallReset robot

20. NTU movie

21. Results13 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 yesOther 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. ConclusionCannot Can teach “system design” in short timeIsolation Integration of different fieldsCannot 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

#25: 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

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Editor's Notes