ast-robotics · 2009-10-13 · 1 22 may 2009 ast-robotics public – not confidential ast-robotics...
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22 May 2009
AST-Robotics
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor ControlMEMS Demo
Sound Based Control
2
May 2009AST-RoboticsPublic – Not Confidential
Robotic Vision Systems Applications
Intelligent ToysVisual SLAM / 3D vision
Object recognition
Aerial imaging
Video surveillance and
intercom
Robotic aided surgery
May 2009AST-RoboticsPublic – Not Confidential
Main FeaturesVery small Robotic Vision System (RVS)
30 x 30 mm System on Module (SoM)
this version can be directly soldered on your custom board
34 x 34 mm Socket version
ST-STR912FA Microcontroller (Arm966 @ 96MHz)
Free Development Toolchain
ST-VS6724 Camera Module 2Mpx
BMP or JPEG acquisition
16MB external burst PSRAM (100MHz)
Multiple Camera Synchronization
4 x 16 pins/pads for system connection
Application board
120 x 90 mm
Ethernet, USB, CAN, RS232, IR, MicroSD, I2C, SPI, GPIOs
RVS v. 1.0 RVS Module
Application Board
3
May 2009AST-RoboticsPublic – Not Confidential
RVS v. 1.0
4 x 16 pins
for system
connection
ST-STR912FA
ARM966 @ 96MHz
ST-VS6724
2Mpx camera
16MB PSRAM
BURST
34 x 34 mm Socket version
30 x 30 mm SoM version
SoM version30 x 30 mm
Surface Mount Device
4 x 16 pads
Socket version34 x 34 mm
Socket plug-in I/F
4 x 16 pins
May 2009AST-RoboticsPublic – Not Confidential
RVS Development Board
USB
Switching Power Source
5-9V
LED HLJTAG
Ethernet 10/100
RS232
RS232
CAN
RVS
Module
uSD
LEGO
RS485 / I2C
Interface
IR
4
May 2009AST-RoboticsPublic – Not Confidential
STLCam (ST LEGO Camera)
Host for Vision Module based on RVS 1.0
Communication:
USB
LEGO – I2C / RS485
Rear expansion connectors:
MII (Ethernet pins)
JTAG
GPIOs
Features:
Dual power USB / LEGO
Reset
An optimized RVS Main Board for LEGO Mindstorm NXT
4.8 cm
4.8 cm
May 2009AST-RoboticsPublic – Not Confidential
Embedded Processing
ETH-RT streaming: 800x600 @ 30fps
RT processing up to 240x180 @ 30fps
Blob analysis (Contour points, Area,
Perimeter, Circularity, Outer box)
Face detection
Harris features extraction
Multiple camera synchronization
Face detection
Blob analysis
14874166Available instructions per pixel
640000032000003200000Available instructions per image
432004320019200Image size (pixel)
0.31%0.62%0.41%Acquisition overhead
153030Frame rate
240x180240x180160x120Image resolution
RVS performance table
RVS Capabilities
5
May 2009AST-RoboticsPublic – Not Confidential
RVS PC Evaluation SW
Blob and graphical
settings Color blobs
Features
Multiple camera
management with a single
PC through Ethernet
Pre-testing of microcontroller
algorithms
Blob analysis
Face detection
Save and Load image files
Windows and Linux
supported
PC imaging environment to test the functionalities of an RVS module connected via Ethernet
May 2009AST-RoboticsPublic – Not Confidential
Embedded blob analysis
Color rulesVisualization options Blob geometry
Embedded blob analysis algorithm
ported both on the RVS module and on the PC
evaluation software
6
May 2009AST-RoboticsPublic – Not Confidential
Embedded face detection algorithm
can run either on the RVS module or on the
PC evaluation software
Embedded face detection
May 2009AST-RoboticsPublic – Not Confidential
Embedded Harris
Harris Corner Extraction Matching algorithm
Harris Movement Vectors
Harris corner extraction algorithm can run either on the
RVS module or on the PC evaluation
software
7
May 2009AST-RoboticsPublic – Not Confidential
Robots with Embedded Vision
AGV-JokerTableJoker
G2 ballFollower
LegoJokerRoombaBot
May 2009AST-RoboticsPublic – Not Confidential
This system can feed synchronized images to a PC for low cost 3D avatar
reconstruction
Mobot Avatar
8
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
May 2009AST-RoboticsPublic – Not Confidential
Inertial Platform: RIS v. 1.0Main Features
Very small Robotic Inertial System (RIS)
30 x 30 mm System on Module (SoM)
this version can be directly soldered on your custom board
34 x 34 mm Socket version
ST-STM32F103RE Microcontroller
Arm CortexM3, 90DMIPS, 64KB RAM, 512KB Flash
Free Development Toolchain
ST-LIS331DLH
3 Axis, 16 bit digital accelerometer
ST-LY530AL
1 axes, 10 bit digital gyroscope
4 x 16 pins for system connection
Application board
48 x 48 mm
USB, RS-485, I2C, SPI, GPIOs
RIS Module
Application Board
9
May 2009AST-RoboticsPublic – Not Confidential
RIS v. 1.0
STM32Arm CortexM3
90DMIPS
3 axis16 bit
accelerometer
Expansionconnector
1 axes10 bit
gyroscope
RIS Module (SoM version)
4 x 16 pins
for system connection
- 30 x 30 mm SoM version
- 34 x 34 mm Socket version Improved Localization
Flying stabilization
Robot stabilization
Lab Map
6 mt
Sta
rt
End
20 mt
Low-cost Map Building
May 2009AST-RoboticsPublic – Not Confidential
RIS development board
Front side Back side
USB
GPIOs
JTAGResetRIS SoM
RS-485LEGO I/F
LED
48 mm
48 m
m
10
May 2009AST-RoboticsPublic – Not Confidential
Lego-way Stabilization
Challenge:
Two wheels self-balancing robot
“The LEGO Segway”
Hardware:
Lego Mindstorm NXT
LY530AL - single axis yaw rate
MEMS gyroscope
LIS3LV02DL - 3 axis MEMS
accelerometer
STM32 - sensors fusion
May 2009AST-RoboticsPublic – Not Confidential
Lego-way Architecture
StabilityControl
ENC
Gyro
Acc
STM32 NXT
1 varEKF
Pitchestimator
DriftFilter
11
May 2009AST-RoboticsPublic – Not Confidential
G2 ball follower
Pb 12V battery
RVS Vision System
RIS Inertial Platform
Power Board Dual
DC-Motor
Centerstand
May 2009AST-RoboticsPublic – Not Confidential
MEMS Remote Control
FWD - BWD LEFT - RIGHT
Bluetooth
Pitch
Roll
12
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
May 2009AST-RoboticsPublic – Not Confidential
Audio Projects
Projects
Remote Control
Goertzel
Sound Localization
Triangulation
The System
3 microphones
STM32
Mobile robot
13
May 2009AST-RoboticsPublic – Not Confidential
Sound Remote Control
Power
Freq
FWD - BWD LEFT - RIGHT
May 2009AST-RoboticsPublic – Not Confidential
Mic 1
Sound Localization
α
Sound Source
Mic 2
Mic 3
β
AB
αα>0
α<0
14
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
May 2009AST-RoboticsPublic – Not Confidential
Robotic Communication
MotivationIntelligence node 2
Intelligent vision
Intelligentrover
Intelligentmanipulator
Intelligence node 1
SM Slaves
Sniffer
Complex robotic tasks
easily solved by using
smart, robust and reusable robotic
modules
Real Time
Ethernet & SPI
ST is industry sponsor of
International Conference on Robot Communication and Coordination
15
May 2009AST-RoboticsPublic – Not Confidential
Project Goal
Development of an Open Protocol for Real-Time communication of robotic subsystems
Readily available to the developer’s community
Portable over standard hardware (e.g. Ethernet)
To reduce costs
To simplify development
Deterministic behavior in any load condition of the network
Multi-master and capable of supporting a large number of nodes
Lightweight, in order to allow implementation on simple and low-cost nodes.
Scalable bandwidth, depending on underlying physical network
May 2009AST-RoboticsPublic – Not Confidential
Access layer
Memory layer
Ethernet MAC(or any other comm. bus)
MTAP
User application Memory Layer
Manage data exchange
via remote memory
access
Access Layer
Manage bus contention
via token passing
Multi-master Tokened Access Protocol
Software stack
16
May 2009AST-RoboticsPublic – Not Confidential
MTAP Protocol Testing
Test system in our lab
1 Super Master
(Lemote embedded PC based on ST
Loongson MIPS64@1GHz)
6 Slave nodes
(Raisonance microcontroller Dev board
based on ST STR9 ARM966E@96MHz)
1 Sniffer
(standard laptop PC)
1 Repeating hub
1 Ethernet switch
Test results
May 2009AST-RoboticsPublic – Not Confidential
Exchanged data between
the master and each slave
2 bytes write
2 bytes read
6844FRTP=1KHz [N. slaves]
7885TSp-M [µs]
760494FRTP=100Hz [N. slaves]
1320TS-S [µs]
4653TM-S1 [µs]
rep. hubswitchTest type
MTAP Protocol: Test results over Ethernet
760 DC MotCtrl
Modules => 6080
controlled motors
at 100Hz
17
May 2009AST-RoboticsPublic – Not Confidential
MTAP Protocol: Test results over SPI
Master1
Slave 1 Slave 2
SPI_SCKSPI_DATASPI_INT
47K 47KVcc
Slave n
Run on an STM32
SPI @ 18Mbps
CRC16 in HW
Cycle freq. up to 8KHz
New version: 2 wires
8KHzMax Cycle Freq.
40FRTP=1KHz [N. slaves]
65TSp-M [µs]
450FRTP=100Hz [N. slaves]
40TS-S [µs]
60TM-S1 [µs]
SPITest type
May 2009AST-RoboticsPublic – Not Confidential
Promotes the convergence of robotics and communications, acting as a common forum for the two communities.
ST is Industry Chair
Sponsored Best Student Paper Award in 1st edition
2nd International Conference on Robot Communication and Coordination
Odense, Denmark, March 31 - April 2 2009
18
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
May 2009AST-RoboticsPublic – Not Confidential
Features
ST STR9 Microcontroller (Arm9 @ 96MHz)
1 Brushless (BLDC) Motor connector (6 PWM)
8 DC Motors connectors, each with
1 PWM output
2 digital outputs for H-Bridge direction bits
1 analog input
1 quadrature encoder input (500 KHz sampled)
2 digital inputs for joint limit switches
8 RC servos outputs
8 channel configuration dipswitch
Speed and position control @ 1KHz
2 Ethernet 10/100 ports
Several communication peripherals (CAN, USB, RS232, I2C, SPI)
Real Time Ethernet Protocol Implementation (MTAP)
Free Development Toolchain based on Eclipse, GCC and GDB
Motor Control Module MC-ERT-188
19
May 2009AST-RoboticsPublic – Not Confidential
MC-ERT-188
8 DC motor ports
8 CH dipswitch
8 RC servomotor OUTUSBSwitching
Power Source6-30V
2 Ethernet 10/100 ports
BLDC port
RS232
RS232 - CAN
JTAG
STR912FA
Eth hub/switch
May 2009AST-RoboticsPublic – Not Confidential
AGV-Joker Demo(Autonomous Ground Vehicle)
Open Robotic Platform
Robotic arm
7 RC Servo Motors
G4 Rover
4 DC Motors
Eth
Motor control board
STR9 (96MHz) 8 DC motors - encoder 8 RC servos
D-Link DWL-G730AP Small lightweight
Wifi Bridge
Master Node
Laptop (2 GHz) Image processing Motor control Task control
WiFi
Eth
STR9 + 2Mpx camera Object tracking
Intelligent Vision
20
May 2009AST-RoboticsPublic – Not Confidential
AGV-Joker Demo(Autonomous Ground Vehicle)
Open Robotic Platform
Robotic arm
7 RC Servo Motors
G4 Rover
4 DC Motors
Eth
Motor control board
STR9 (96MHz) 8 DC motors - encoder 8 RC servos
D-Link DWL-G730AP Small lightweight
Wifi Bridge
Master Node
Laptop (2 GHz) Image processing Motor control Task control
WiFi
Eth
STR9 + 2Mpx camera Object tracking
Intelligent Vision
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
21
May 2009AST-RoboticsPublic – Not Confidential
UAV - Applications
Surveillance and Imaging Dangerous Environments
Swarm Robotics (cooperation) Indoor Navigation & Mapping
May 2009AST-RoboticsPublic – Not Confidential
UAV - Basic movements
4 basic movements:
Throttle (U1)
Roll (U2)
Pitch (U3)
Yaw (U4)
22
May 2009AST-RoboticsPublic – Not Confidential
UAV - Dynamic system
6 DOF rigid body dynamics
Rotational kinematics
Basic movements derivation
May 2009AST-RoboticsPublic – Not Confidential
UAV - Control law implementation
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Simplified dynamic system Output movement signals
Basic control rule
Output propellers’ speeds
23
May 2009AST-RoboticsPublic – Not Confidential
UAV - Simulator
Simulation and 3D visualization through Matlab/Simulink
Altitude and attitude references
Dynamic Simulator
3D Visualization
May 2009AST-RoboticsPublic – Not Confidential
UAV - System connections
UAV
Data download
Real Time ControlUAV block diagram
R/C receiver IR sensor
Sonar sensor
IMU sensor
Power moduleBattery
24
May 2009AST-RoboticsPublic – Not Confidential
UAV – Simulation and Real Flight
May 2009AST-RoboticsPublic – Not Confidential
UAVOutline1. Robotic Vision Systems
2. Inertial Platform
3. Sound Based Control
4. Robotic Communication
5. Motor Control
6. Unmanned Aerial Vehicle
7. Piezo actuators
Robotic Communication Robotic Vision Motor Control
Sound Based Control
MEMS Demo
25
May 2009AST-RoboticsPublic – Not Confidential
Rotational Piezo Motor
May 2009AST-RoboticsPublic – Not Confidential
Our Robotic Fleet
G2 Ball Follower
RoombaBot
F4
Lego-Way
LegoJokerAGV-Joker
Table-Joker
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