MotivationDemosVETERrobotics vehicle for researchers and makersAndrey NechypurenkoMaksym ParkachovNikolay NikolaevJanuary,...
MotivationDemosMarket overviewAddressing the demandTechnical detailsDemand for robotics products and professionalsAccordin...
MotivationDemosMarket overviewAddressing the demandTechnical detailsOpen and free education initiative by robotics experts...
MotivationDemosMarket overviewAddressing the demandTechnical detailsVeter-robot addresses the demand of researchersOur Vet...
MotivationDemosMarket overviewAddressing the demandTechnical detailsKey requirementsAt the first step we are targeting rese...
MotivationDemosMarket overviewAddressing the demandTechnical detailsChassis and bodyWe are using Dagu Rover 5 Tracked Chas...
MotivationDemosMarket overviewAddressing the demandTechnical detailsEasy customizableApplication of 3D printing technology...
MotivationDemosMarket overviewAddressing the demandTechnical detailsSensors and on-board electronicIn the full configuratio...
MotivationDemosMarket overviewAddressing the demandTechnical detailsInterfacing sensors and actuatorsWe developed our own ...
MotivationDemosMarket overviewAddressing the demandTechnical detailsSoftwareThe whole software is open-source and is avail...
MotivationDemosMarket overviewAddressing the demandTechnical detailsUI developmentWe are using our own COLLADA visualizati...
MotivationDemosMarket overviewAddressing the demandTechnical detailsExamples and tutorialsTo demonstrate how to develop so...
MotivationDemosMarket overviewAddressing the demandTechnical detailsCompetitive advantages of our platformComparing to exi...
MotivationDemosVideosCamera-based motion controlhttp://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicl...
MotivationDemosVideosParticle filterhttp://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researc...
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Building advanced robotics platform using open hardware, software and 3D pinting by Andrey Nechypurenko

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This talk will provide an overview about set of software and
hardware technologies we were using to build our open robotics platform (veterobot.org). In particular, we will cover the application of BeagleBoard as a robots “brain”, Linux with the set of libraries to control the robot, and 3D printing technology to print the robots body.

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Building advanced robotics platform using open hardware, software and 3D pinting by Andrey Nechypurenko

  1. 1. MotivationDemosVETERrobotics vehicle for researchers and makersAndrey NechypurenkoMaksym ParkachovNikolay NikolaevJanuary, 2013http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  2. 2. MotivationDemosMarket overviewAddressing the demandTechnical detailsDemand for robotics products and professionalsAccording to ABI research data, worldwide telepresence market is going to reach$13.1 billion by the end of 2016.Recruiters posted more than 2,100 online job ads for robotics skills in January of2012, growing 44% versus 2011, according to WANTED Analytics.Acording to BCC Research, the global demand for robots and robot-relatedproducts was worth around $21 billion in 2010. The market is expected to growto nearly $22 billion in 2011 and $30 billion by 2016, a compound annual growthrate (CAGR) of 6.7% between 2011 and 2016.Not enough robotics professionals available to cover the market demand.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  3. 3. MotivationDemosMarket overviewAddressing the demandTechnical detailsOpen and free education initiative by robotics expertsWorld-wide famous robotics experts such as Sebastian Thrun, Andrew Ng, PeterNorwig and many others are creating free online education portals. They delivertop-level education to the huge audience for free.As a result, the amount of students interested in robotics is growing dramatically.They in turn, demand for accessible, yet powerfull, platform to experiment with.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  4. 4. MotivationDemosMarket overviewAddressing the demandTechnical detailsVeter-robot addresses the demand of researchersOur Veter robotics platform addresses the demand from students, researchers andhobby robotics enthusiasts by offering accessible, powerful and highly customizableplatform for experiments and fun. By embracing the open-source ideology in hardwareand software areas the project has the potential to attract wide audience.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  5. 5. MotivationDemosMarket overviewAddressing the demandTechnical detailsKey requirementsAt the first step we are targeting researches in robotics, artificial intelligence andcomputer vision as well as hobby robotics enthusiasts. For this purposes, we identifiedand addressed the following key requirements:should be complete open (hardware and software)equipped with typical and widely used set of sensorseasy customizable to integrate new or different types of sensors and actuatorsenergy efficient yet powerful on-board computerprovide bi-directional communication link to transmit sensor and control data inreal-timeset of software modules which support distributed data processing and providehardware abstraction layer. It should let developers concentrate on experimentsand applications of their core competencesconsiderably lower cost comparing to the similar available productsTo address these requirements we decide for the following solutions.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  6. 6. MotivationDemosMarket overviewAddressing the demandTechnical detailsChassis and bodyWe are using Dagu Rover 5 Tracked Chassis with two motors and two quadratureencoders. The whole body is 3D-printed and provides:rotated ”head” (to mount camera on it)folding mast for EMS-sensitive sensors (such as, for example, digital compass)place for exchangeable batteries”doors” to access the inside electronic connectorsextension options for additional electronic, sensors and actuatorsApplication of the 3D printing significantly simplifies customization of the body.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  7. 7. MotivationDemosMarket overviewAddressing the demandTechnical detailsEasy customizableApplication of 3D printing technology allows easy customization for particular projectneeds.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  8. 8. MotivationDemosMarket overviewAddressing the demandTechnical detailsSensors and on-board electronicIn the full configuration the followingsensors are available:four ultra-sound range finders (on thesides, front and back)two video cameraspan/tilt compensated digital compassGPS receiverThe front sonar and cameras could be mounted on the ”head” which is rotated by theservo motor. All peripheral devices are connected to the on-board computer over USBand connectors provided by the daughter board. Current robot version uses TI’sBeagleBoard-xM as on-board computer. BeagleBoard provides enough power tocompress video stream with H.264 codec in real-time, control the hardware and runadvanced navigation algorithms.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  9. 9. MotivationDemosMarket overviewAddressing the demandTechnical detailsInterfacing sensors and actuatorsWe developed our own daughter board to interface all sensors and acutators.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  10. 10. MotivationDemosMarket overviewAddressing the demandTechnical detailsSoftwareThe whole software is open-source and is available on git-hub. We offer the completestack from operating system up to communication infrastructure and client-side userinterface and visualization applications.we provide customized image based on popular Angstrom Linuxdistribution which is optimized for the the BeagleBoard.we are using Xenomai Linux real-time extension for motorcontrol and other time-sensitive tasks.sensors and actuators are remotely accessible (over the network)using corresponding software components.for all remoting purposes we are using ZeroC’s Ice (InternetCommunication Engine) middleware.it allows developers to use wide range of programminglanguages (C++, Python, Ruby, Java and all .Net-languages) todevelop own software components.There is an OpenGL-based application ”cockpit” available to remotely control therobot manually. Sensor data (including video from cameras) are rendered in real-timeand control commands are sent back to the vehicle.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  11. 11. MotivationDemosMarket overviewAddressing the demandTechnical detailsUI developmentWe are using our own COLLADA visualization library (with support for animation) todecouple visualization and application logic.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  12. 12. MotivationDemosMarket overviewAddressing the demandTechnical detailsExamples and tutorialsTo demonstrate how to develop solutions for typical problems from robotics domainusing our platform we implement several homework assignments from ”ProgrammingA Robotic Car” online course taught by Prof. Sebastian Thrun. These examplesillustrates the applicability of our platform in educational domain.Unit1 - one-dimensional localization using histogram filter.Unit2 - speed and position estimation with Kalman filter.Unit3 - position estimation using particle filter.Unit5 - motion control with PID-controller and Twiddle algorithm to find PIDparameters.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  13. 13. MotivationDemosMarket overviewAddressing the demandTechnical detailsCompetitive advantages of our platformComparing to existing and potential competitors our solution offers followingadvantages. In the hardware area we provide:Longer autonomous operation time with easy replaceable battery.Significantly higher processing power with onboard ARM CPU and TI DSP.Easy customizable 3D-printed body for integration of additional sensors andactuators.Simple electronic built out of standard high level components.Wide range of out-of-the-box sensors.In the software area we provide:Advanced communication infrastructure for cloud robotics.Support for multiple programming languages.Adaptive video streaming for remote operation over the Internet.Set of examples for education scenarios.By shifting complexity to the software and simplifying hardware we were able toreduce price to very competitive level.http://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makers
  14. 14. MotivationDemosVideosCamera-based motion controlhttp://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makersPIDcontroller
  15. 15. MotivationDemosVideosParticle filterhttp://veterobot.com , mailto: veterobot@gmail.com VETER - robotics vehicle for researchers and makersparticlefilter
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