Research Platforms for Embedded Control and Design

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Control, Robotics, Mechatronics& Embedded

Industries and Applications

Test Monitor Embedded Control Mechatronics

Graphical System DesignA Platform-Based Approach for Measurement and Control

2ni.com

Hardware and I/O Devices

PXI and Modular Instruments

Desktops and PC-Based DAQ

NI CompactRIO Open Connectivity With Third-Party I/O

Multi-Modal Rover for Search and Rescue

Coordinated Robotics Lab

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With both an FPGA and a PowerPC processor, the Single-Board RIO platform has the flexibility to

handle a variety of programming tasks and algorithms in an efficient manner. Onboard Ethernet,

combined with a Wi-Fi adapter, enables real-time wireless communication, debugging, and

deployment of software Nick Morozovsky, Mechanical Engineering PhD student, Switchblade project leader

MIT: Cheetah Robot Control & Test Systems sbRIO-9642 (Treadmill Control)

cRIO-9082 (Robot Control)

Developing a control architecture for legged locomotion

Sensor fusion for multi-parallel IMUs and laser distance sensors array

Significant time saving for system integration

4ni.com

Andy Clegg & Petros SavidisIndustrial Systems & Control (ISC) Ltd.

2012 Graphical System Design Achievement Awards Overall Winner

Controlling a Motion Compensated Gangway to Access Offshore Turbines

ni.com

"The"The"The"The combinationcombinationcombinationcombination ofofofof NINININI LabVIEWLabVIEWLabVIEWLabVIEW andandandand NINININI CompactRIOCompactRIOCompactRIOCompactRIO waswaswaswas

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isisisis perfectlyperfectlyperfectlyperfectly suitedsuitedsuitedsuited totototo thethethethe marinemarinemarinemarine environmentenvironmentenvironmentenvironment....

Andrew Clegg, Andrew Clegg, Andrew Clegg, Andrew Clegg,

ni.com

Andrew Clegg, Andrew Clegg, Andrew Clegg, Andrew Clegg,

Industrial Systems and Control Ltd Industrial Systems and Control Ltd Industrial Systems and Control Ltd Industrial Systems and Control Ltd

Mechatronics System Components

7ni.com

Improving the Efficiency of Design Teams

Domain ExpertsDomain Experts

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In the past, we would have needed a team of four people In the past, we would have needed a team of four people In the past, we would have needed a team of four people In the past, we would have needed a team of four people a controls a controls a controls a controls expert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmer, , , ,

8ni.com

Software DesignersSoftware Designers

FPGA DesignersFPGA DesignersCustom IC DesignersCustom IC Designers

ASIC DesignersASIC Designers

Mechanical DesignersMechanical Designers

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Sean DoughertySean DoughertySean DoughertySean Dougherty

MechatronicsMechatronicsMechatronicsMechatronics Supervisor Supervisor Supervisor Supervisor

MacDonald MacDonald MacDonald MacDonald DettwilerDettwilerDettwilerDettwiler and and and and AssociatesAssociatesAssociatesAssociates

Multithreading

scheduller

Develop algorithm

Programming

Environment

C Generator Real-Time Compiler, Linker, Debugger

+

Prepare for Dual Core

GenerateC Code

Compile for Real-Time

Target

Debug Application on

Real-Time

Development with Traditional Tools

2 431

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scheduller

Development Tool Chain

EnvironmentReal-Time Processor and

Other Hardware

Third-Party Embedded Tools

Development with LabVIEW

LabVIEW MathScript RT

Module

Prepare for Dual Core

C Code Generation

Compiler for Real-Time

Target

Debug Application on

Real-Time

Graphical and Textual

Programming

Inherent Multithreading

LabVIEW Compiler LabVIEW Real-Time Module

1

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Module Multithreading Compiler

11ni.com

DeployPrototypeDesignDesignDesignDesign

A Highly Productive Graphical Development Environment for Engineers and Scientists

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Custom User InterfacesCustom User InterfacesCustom User InterfacesCustom User Interfaces

Technology AbstractionsTechnology AbstractionsTechnology AbstractionsTechnology Abstractions

BuiltBuiltBuiltBuilt----in Librariesin Librariesin Librariesin Libraries

Programming Programming Programming Programming

ApproachesApproachesApproachesApproaches

Hardware APIsHardware APIsHardware APIsHardware APIs

Deployment TargetsDeployment TargetsDeployment TargetsDeployment Targets

LabVIEWControl Design & Simulation

Construct and analyze system models

Design basic and advanced control algorithms

Simulate response of

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Simulate response of controller designs

Analyze control efficiency and stability interactively

Implement systems with built-in real-time I/O

LabVIEW Control Design & Simulation Module

Standard Notation Reduces Learning Curve

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The Simulink Software Environment

Simulink is a registered trademark of The MathWorks, Inc.

Dynamic System Simulation & Control

Single environment for:

Simulation of dynamic systems

Real-time implementation for rapid

control prototyping or hardware-in-the-

loop simulation

15ni.com

LabVIEW MathScript RT

Powerful textual programming for Powerful textual programming for Powerful textual programming for Powerful textual programming for Control Design, Signal Processing, Control Design, Signal Processing, Control Design, Signal Processing, Control Design, Signal Processing, and Mathand Mathand Mathand Math

Hundreds of built-in functions

Reuse many of your m-file scripts created with The MathWorks, Inc.s MATLAB software and others

16ni.com

MATLAB software and others

A native LabVIEW solutionA native LabVIEW solutionA native LabVIEW solutionA native LabVIEW solution Interactive and programmatic interfaces

Does not require 3rd party software

MATLAB is a registered trademark of The MathWorks, Inc.

Combined Graphical / Textual ProgrammingA Hybrid Approach

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Fractal GenerationFractal GenerationFractal GenerationFractal Generation

.m Script Integration

Muilti-Core Processing

The Problem40 Million Tonnes

UK Road Fuel Consumption

30%UK Energy Consumption

Most energy waste at

Aerodynamic Drag

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Most energy waste at

motorway speeds

80%Caused by Rear Airflow

Separation

Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction

Using Pulsating JetsUsing Pulsating JetsUsing Pulsating JetsUsing Pulsating Jets

Inputs: 12 Pressure Sensors

Outputs: jets of air driven by

We are synthetically controlling airflow,

which directly results in significant

reductions in road transportation fuel

consumption and carbon emissions.

20ni.com

Outputs: jets of air driven by loudspeakers enclosed in the body

Using a high performance real-time

NI PXI system, we acquired data

across 12 channels and multiplied by

high-order transfer functions within

just 50s.GeorgiosGeorgiosGeorgiosGeorgios RigasRigasRigasRigas

Flow Control Group

Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction

Using Pulsating JetsUsing Pulsating JetsUsing Pulsating JetsUsing Pulsating Jets

Inputs: 12 Pressure Sensors

Outputs: jets of air driven by

We are synthetically controlling airflow,

which directly results in significant

reductions in road transportation fuel

consumption and carbon emissions.

To program this, we used LabVIEW system

design software to seamlessly integrate with

21ni.com

Outputs: jets of air driven by loudspeakers enclosed in the body

Using a high performance real-time

NI PXI system, we acquired data

across 12 channels and multiplied by

high-order transfer functions within

just 50s.GeorgiosGeorgiosGeorgiosGeorgios RigasRigasRigasRigas

Flow Control Group

design software to seamlessly integrate with

algorithms previously implemented in MATLAB

with high-performance NI hardware.

MATLAB is a registered trademark of The MathWorks, Inc.

Models of Computation in Action

Textual MathTextual MathTextual MathTextual Math

I/O integrationI/O integrationI/O integrationI/O integration

TimingTimingTimingTiming

Data FlowData FlowData FlowData Flow

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ParallelParallelParallelParallel

StatechartsStatechartsStatechartsStatecharts Control & SimulationControl & SimulationControl & SimulationControl & Simulation

C & HDL CodeC & HDL CodeC & HDL CodeC & HDL Code

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DeployPrototypePrototypePrototypePrototypeDesign

Critical Real-Time Applications

Event Response Closed-Loop Control Critical Tests

24ni.com

LabVIEW Real-TimeLinker

System Analysis Tools

Compiler

Debugger

Real-Time Development Tools

Development

Software

25ni.com

Execution Trace Tool

LabVIEW Real-Time

Target

System Analysis Tools

RTOS

Microprocessor

I/O Connectivity

Real-Time

Hardware

Prototyping Hardware NI CompactRIO

Rugged, reconfigurable

deployment platform for controls,

mechatronics, and robotics

applications

FPGA parallel processing

capabilities to optimize your

control algorithms

26ni.com

Up to 40 MHz control loop rates

with FPGA-based backplane

Modular I/O modules for flexible

I/O provide optimum flexibility

and mixed-signal integration

Real-time does notdoes notdoes notdoes not always mean real fast

Real-time means absolute reliabilityabsolute reliabilityabsolute reliabilityabsolute reliability

Real-time systems have timing constraints that must be

met to avoid failure

Determinism is the ability to complete a task within a fixed

amount of time

Introduction to Real-Time OS

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amount of time

Operating System Characteristics

General Purpose OS High-priority tasks can be preempted by lower-priority tasks

Extraneous background programs

Screen savers, disk utilities, virus software, etc.

Peripheral Interrupts

Loop Rate Software Jitter

10-100 Hz Unbounded

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Peripheral Interrupts Mouse, keyboard, etc.

Real-Time OS Scheduler ensures high-priority tasks execute first

Direct control over all tasks Stand-alone (no mouse, keyboard, etc.)

Up to 100

kHzBounded

Introduction to FPGA Technology

What is an FPGA?

Field programmable gate array (FPGA)

A silicon chip with unconnected gates and other hardware resources

Enables user to define and re-define functionality

How does an FPGA work?

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How does an FPGA work?

Circuit behavior is defined using software

Circuit specification (gate connection, etc.) is loaded into the hardware

No OS is needed for execution of logic

When is an FPGA used?

Custom hardware, fast execution, critical code

Reconfiguration required after deployment

FPGA Technology

ProgrammableProgrammableProgrammableProgrammable

InterconnectsInterconnectsInterconnectsInterconnects

30ni.com

I/O BlocksI/O BlocksI/O BlocksI/O Blocks

LogicLogicLogicLogic

BlocksBlocksBlocksBlocks

FieldFieldFieldField----Programmable Gate ArrayProgrammable Gate ArrayProgrammable Gate ArrayProgrammable Gate Array

FPGA Logic Implementation

A

FE

Implementing Logic on FPGA: F = {(A+B)CD} E

LabVIEW FPGA Code

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A

B

C

D

Why are FPGAs useful?

High Reliability High Reliability High Reliability High Reliability Designs implemented in hardware

High PerformanceHigh PerformanceHigh PerformanceHigh Performance Computational abilities open new possibilities for measurement and data processing speed

Low Latency Low Latency Low Latency Low Latency Run algorithms at deterministic

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Low Latency Low Latency Low Latency Low Latency Run algorithms at deterministic rates down to 5 ns

ReconfigurableReconfigurableReconfigurableReconfigurable Create DUT / application-specific personalities

True ParallelismTrue ParallelismTrue ParallelismTrue Parallelism Enables parallel tasks and pipelining, reducing test times

FPGA Technology - Abstract Complexity

Counter Analogue I/O I/O with DMA

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LabVIEW FPGA VHDL ~4000 lines

High-Speed Control

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About 200 kHz loop rate

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DeployDeployDeployDeployPrototypeDesign

Blind Driver ChallengeStudent Design from Virginia TechStudent Design from Virginia TechStudent Design from Virginia TechStudent Design from Virginia Tech

Road Ready Vehicle for Blind

Non-visual driving interfaces

FPGA Parallel ProcessingPotential Field Algorithms

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Potential Field Algorithms

NI Single-Board RIO Platform

Real-Time Processor FPGA

Digital I/O

Analog I/O

C Series I/O

The power of CompactRIO on a single board.

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NI Single-Board RIO Platform

Model Processor

Speed

(MHz)

FPGA

Size

(Gates)

3.3V

DIO

Lines

AI

Channels

(NI 9205)

AO

Channels

(NI 9263)

24V DI/DO

(NI 9425 &

NI 9476)

C Series

Expansion

(Slots)

sbRIO-9601 266 1M 110 0 0 0 3

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sbRIO-9601 266 1M 110 0 0 0 3

sbRIO-9602 400 2M 110 0 0 0 3

sbRIO-9611 266 1M 110 32 0 0 3

sbRIO-9612 400 2M 110 32 0 0 3

sbRIO-9631 266 1M 110 32 4 0 3

sbRIO-9632 400 2M 110 32 4 0 3

sbRIO-9641 266 1M 110 32 4 32/32 3

sbRIO-9642 400 2M 110 32 4 32/32 3

RIO Evaluation hardware (315) sbRIO-9636

400 MHz Real-Time Controller

AI, AO, DIO, LCD Screen

90-day extended evaluation

version of NI LabVIEW, Real-Time and FPGA

NI LabVIEW RIO Evaluation Kit

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Step-by-Step Tutorials

All necessary cables and accessories

Online Community Support

Every customer interested in LabVIEW RT or FPGA

LabVIEWControlled Quadcopter

NI Products used: NI Products used: NI Products used: NI Products used: LabVIEW FPGA, LabVIEW

Real Time, NI sbRIO, VISA Drivers

Application: Application: Application: Application: An aerial vehicle designed, developed and deployed using

Graphical Systems Design

40ni.com

Reasons for choosing NI Products: Reasons for choosing NI Products: Reasons for choosing NI Products: Reasons for choosing NI Products:

Development of this type of project

from the ground up could not have

been achieved using any other

platform in just three months. The

LabVIEW PID toolkit took weeks off

development time and the sbRIO

provided simple integration of COTS

sensors

HexapodInverse Kinematics and

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Inverse Kinematics and

Closed Loop Balancing on sbRIO

Graphical System Design

DeployPrototypeDesign

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DeployPrototypeDesign

Interactive Algorithm Design

Control design

Dynamic system

simulation

Digital filter design

Advanced mathematics

Deployable Targets

Rugged deployment

platforms

Distributed networking

Custom designs

Tight I/O Integration

I/O modules and drivers

COTS FPGA hardware

VHDL and C code

integration

Design validation tools