ts5040_labview robotics starter kit (dani) lab exercisesf
TRANSCRIPT
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LabVIEW Robotics Starter Kit (DaNI)
Lab Exercises
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Dr. James Conrad
John Wilkes
Outline
• Course Information
• Lab Development and Materials
• Lab Descriptions and Demonstrations
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• Lab Descriptions and Demonstrations
• Results and DaNI model Comparison
• Conclusion
UNC Charlotte Intro to Robotics Course
• Senior/Graduate level.
• Prerequisite: Programming course, Senior standing.
• Currently only offered in the summer.
• Program a modern microcontroller using LabVIEW
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• Program a modern microcontroller using LabVIEW
and operate its peripheral devices.
• Book: Autonomous Mobile Robots by Roland
Siegwart, second edition, 2011.
UNC Charlotte Robotics Course (Cont).
• Identify general concepts of Systems Engineering.
• Identify sensors and integrate them in a robot.
• Design motion sub-systems (DC motors, servos,
steppers, linear actuators) and identify how they
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steppers, linear actuators) and identify how they
would be integrated in a robot.
• Design a motion trajectory planning algorithm and
implement it in a robot.
• Hands-on labs a major part of course.
Development of Labs – Senior Design
• Original labs developed as a UNCC sponsored
senior design project
• Team of 3 Computer Engineering students
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• Team of 3 Computer Engineering students
• Labs developed over 2 semesters
• Deliverables: Labs, tutorials, solutions
• Sr. Design requires extensive project
management and reporting documentation
Development of Labs, Additional Materials
• Sensors
– Accelerometer: ADXL 320
– Infrared: Sharp GP2Y0A21YK
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– Infrared: Sharp GP2Y0A21YK
• Sensor Bracket / Extender
• Wiring
Materials Available to Instructors
• Lab Assignments
� Gives background information and requirements for
the labs
• Lab tutorials
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• Lab tutorials
� Step-by-step instructions for completing labs
• Solutions
� LabVIEW VI files
Lab 1 – Intro. to LabVIEW Robotics
• Introduction / Tutorial packet ships with the DaNI
robotic platform
• Basic tutorial for creating a LabVIEW robotics
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• Basic tutorial for creating a LabVIEW robotics
project
• Hardware setup and configuration
� Tests motors and ultrasonic sensor
Lab 2 – Motor Control
• Teaches basic concepts of locomotion using a
wheeled robotic platform
• Goal – Robot will traverse a 2x2 Meter square
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• Goal – Robot will traverse a 2x2 Meter square
2 Meters
Lab 2 – Demonstration
• Live demonstration
• Student video
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Lab 3 – Edge Detection
• Teaches concepts of hierarchy
• Adding sensors to DaNISharp GP2Y0A21YK
Infrared Sensor
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Infrared Sensor
Ana
log Voltage
(Vo)
Distance (cm)
Lab 3 - Demonstration
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Lab 4 - Accelerometers
• Teaches the use of an accelerometer with a
robotic platform
• Accelerometer used as a “tilt detector”
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• Accelerometer used as a “tilt detector”
ADXL 320
Lab – 4 Demonstration
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Lab 5 – A* Path Planning
• Teaches integration of a completed algorithm
with the DaNI robotic platform
• Requires a mastery of basic motor control
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• Requires a mastery of basic motor control
• Utilizes multiple sub VI’s
• 2D Arrays
Lab 5 – A* Path Planning
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Lab 6 – Obstacle Course
• Students must use DaNI, along with any sensors
of their choosing to navigate an obstacle course
• Student Examples:
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• Student Examples:
� Modified A*
� Measurement
� Sub VI’s
� Sensors
Lab 6 – Demonstration Using A*
• DaNI 1.1 video
• DaNI 2.0 video
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Student Reception to LabVIEW
• Previous courses had a strong embedded
development component (design complete
subsystems)
• Students were at first enthusiastic about learning
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• Students were at first enthusiastic about learning
LabVIEW
• Learning curve was steep for a 10-week course
• DaNI 1.1 FPGA compile times (up to 25 minutes)
too long for rapid prototyping
DaNI 1.1 vs. DaNI 2.0
• DaNI 1.1
� Gears
� 4 wheels
� sbRIO-9631
• DaNI 2.0
� Direct Drive
� 3 wheels
� sbRIO-9632
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� sbRIO-9631
� LabVIEW 2009
� sbRIO-9632
� LabVIEW 2011
Labs in Development
• Vision Acquisition
� Axis network camera is used
to track another robot using
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to track another robot using
color detection
� Will follow another robot in
a convoy like fashion
Axis M1011 Network Camera
Conclusion• LabVIEW Platform provides a good environment for
rapid implementation
• Student reception has been guarded
� LabVIEW learning curve is a bit overwhelming for some
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� LabVIEW learning curve is a bit overwhelming for some
� DaNI 1.1 vehicle not ideal
� DaNI 1.1 FPGA compile times too long
• DaNI 2.0 vehicle and development environment
provides an excellent platform for course.
Contact Info
James M. ConradAssociate ProfessorDept. of Electrical and Computer Engineering
UNC-Charlotte9201 University city Boulevard
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9201 University city BoulevardCharlotte, NC [email protected]*http://www.ece.uncc.edu/~jmconradPhone: 704-687-8597Fax: 704-687-4762
* Preferred method of contact
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