talking to robots with pharo
DESCRIPTION
In this presentation we will give an overview of we have been developing in Pharo for building robotics applications: -PhaROSTRANSCRIPT
Noury Bouraqadi, Luc Fabresse, Jannik Laval h"p://car.mines-‐douai.fr
Talking to
with
Very long-term
goal!
4
Current Robots
5
Robots at our lab
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
SoCware SoCware SoCware
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
SoCware SoCware
8
MulHple Kinds of Robots
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MulHple Kinds of Robots
Nou
ry Bou
raqadi – JM
2L 2010
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MulHple Kinds of Robots
Heterogeneity Challenge • Different sensors & actuators • Different shapes & sizes • Different compuHng capabiliHes
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Heterogeneity Challenge 12
Different low-‐level algorithms
Different Drivers & Protocols
Heterogeneity Challenge 13
Different low-‐level algorithms
ImplementaHons exist
Different Drivers & Protocols
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
Algo Algo C, C++ Python
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
Algo Algo C, C++ Python
?
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
Middleware
Algo Algo C, C++ Python
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
Algo Algo C, C++ Python
18
Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
Algo Algo C, C++ Python
Robot Guide using 19
• Museum • Hospital • Shopping Mall • …
Robot Guide using 20
• Museum • Hospital • Shopping Mall • …
Laser Scans à Map
Annotated Map
Robot Guide using 23
Motor Odometer Motor Odometer Rangefinder Rangefinder Rangefinder
Proprietary SoCware
Robot Guide using 24
Path Planner
LocalizaHon System
Motor Odometer Motor Odometer Rangefinder Rangefinder Rangefinder
Proprietary SoCware
Robot Guide using 25
Path Planner
LocalizaHon System
Motor Odometer Motor Odometer Rangefinder Rangefinder Rangefinder
Proprietary SoCware
App
Bridge
Talking to
with
Talking to
with
Talking to
with
(Talk Today)
More Challenges 29
More Challenges 30
Changing CondiHons
Resource Constraints (RAM, CPU, Ba"ery...) Hardware
+ SoCware IntegraHon
More Challenges 31
Self Adapta;on
Changing CondiHons
Resource Constraints (RAM, CPU, Ba"ery...) Hardware
+ SoCware IntegraHon
More Challenges 32
Smalltalk + FPGA
(Talk Tomorrow)
Resource Constraints (RAM, CPU, Ba"ery...) Hardware
+ SoCware IntegraHon
More Challenges 33
TDD
Hardware + SoCware IntegraHon
34
Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
SoCware SoCware SoCware
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Physical Environment
Robot
Actuator Actuator Computer
Sensor Sensor Sensor Actuator Actuator Actuator
SoCware SoCware SoCware Safety
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Simula;on
Safety
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SimulaHon
Noise
Resources
Failure
Asynchrony
Precision
Methodology for Safe TDD
• Ensure emergency stop working! • Order tests – Sensors before actuators – Controlled environments before open ones – StaHc environments before dynamic ones
• Run test only if prerequisites pass
38
Methodology for Safe TDD
• Ensure emergency stop working! • Order tests – Sensors before actuators – Controlled environments before open ones – StaHc environments before dynamic ones
• Run test only if prerequisites pass
39
Methodology for Safe TDD
• Ensure emergency stop working! • Order tests – Sensors before actuators – Controlled environments before open ones – StaHc environments before dynamic ones
• Run test only if prerequisites pass
40
Methodology for Safe TDD
• Ensure emergency stop working! • Order tests – Sensors before actuators – Controlled environments before open ones – StaHc environments before dynamic ones
• Run test only if prerequisites pass
41
BoTest Framework
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the
Future is
RoboHcs Let’s make it with
Smalltalk
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10 000 000+
Big Players Invest in RoboHcs • Amazon Drones for Parcel Delivery
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Big Players Invest in RoboHcs • Google Self-‐Driving Car
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Big Players Invest in RoboHcs • Google Self-‐Driving Car
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Google Bought 8 RoboHcs Companies in
2013!
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the
Future is
RoboHcs Let’s make it with
Smalltalk
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the
Future is
RoboHcs Let’s make it with
Smalltalk
49
Thank you !
Noury Bouraqadi, Luc Fabresse, Jannik Laval h"p://car.mines-‐douai.fr
Talking to
with