Building Robots with the Beagleboard -- HBRC Nov 19, 2008

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    Building Robots with the Beagleboard -- HBRC Nov 19, 2008 - Presentation Transcript

    1. Building Robots with the BeagleBoard Nathan Monson November 19, 2008 HomeBrew Robotics Club
    2. Beagle Bot Demos Tony Pratkanis, Cataglyphis Bicolor Ralph Gnauck, Ralph's Roomba Bot Nathan Monson, Snappy Building Robots with the BeagleBoard Nathan Monson
    3. Tony Pratkanis – Cataglyphis Bicolor Building Robots with the BeagleBoard Nathan Monson
    4. Ralph Gnauck – Ralph's Roomba Bot Building Robots with the BeagleBoard Nathan Monson
    5. Nathan Monson – Snappy Building Robots with the BeagleBoard Nathan Monson
    6. Agenda Overview of the BeagleBoard Hardware Software Community Why Beagle Bots? Community Ease of development Peripheral support Code reuse Performance/watt Adding Beagle to your Bot Existing robots New robots Gotchas Resources and Conclusion Building Robots with the BeagleBoard Nathan Monson
    7. Overview – What is a BeagleBoard? PC-like computer in 3”x3” BYO USB Peripherals TI OMAP 3 evaluation kit Under 2 watts Just $149! Building Robots with the BeagleBoard Nathan Monson
    8. Overview – Hardware Specs OMAP3530 Processor  600MHz Cortex-A8 $149 Peripheral I/O  HDMI/DVI-D video ● NEON+VFPv3 3” ● 16KB/16KB L1$  SDIO/MMC+ ● 256KB L2$  S-Video out  430MHz C64x+ DSP  USB 2.0 HS OTG ● 32K/32K L1$  I2C, I2S, SPI ● 48K L1D Note: 1.8v ONLY ● 32K L2  JTAG  PowerVR SGX GPU  Stereo in/out  64K on-chip RAM  Alternate power POP Memory  RS-232 serial  128MB LPDDR RAM  256MB NAND flash USB Powered  2W maximum consumption ● OMAP is small % of that  Many adapter options ● Car, wall, battery, solar, … Building Robots with the BeagleBoard Nathan Monson
    9. Overview – Hardware Specs Other Features  4 LEDs 3” ● USR0 Peripheral I/O ● USR1  HDMI/DVI-D video ● PMU_STAT  SDIO/MMC+ ● PWR  2 buttons  S-Video out ● USER  USB 2.0 HS OTG ● RESET  I2C, I2S, SPI ● 4 boot sources Note: 1.8v ONLY ● SD/MMC  JTAG ● NAND flash  Stereo in/out ● USB  Alternate power ● Serial  RS-232 serial Building Robots with the BeagleBoard Nathan Monson
    10. Overview – Desktop PC Software Angstrom Community supported Windows Embedded Supported by your $$$ Google Android Nokia Maemo Ubuntu DVI-D USB Hub Power Stereo out SD Stereo in OS USB HOST Building Robots with the BeagleBoard Nathan Monson
    11. Overview – Embedded Software Angstrom “Minimal” or Gadget image Linux OMAP RT OpenWRT Debian Bare Metal via U-Boot Power + Net USB DEVICE Optional RS232 Building Robots with the BeagleBoard Nathan Monson
    12. Overview – BeagleBoard Community Wikis, blogs, Personally IRC, forums, > 1000 participants affordable community staff and growing Active & technical Freedom to community innovate Addressing Open access to open source Instant access to hardware community >10 million lines of code documentation needs Opportunity Free to tinker and software learn
    13. Why Build a Beagle Bot? Community Ease of development Peripheral support Code reuse Performance/watt Building Robots with the BeagleBoard Nathan Monson
    14. Beagle Community – Linux + Robots Linux robots are everywhere Most Linux users share Easy to find help in forums, wikis, books Building Robots with the BeagleBoard Nathan Monson
    15. Commercial Community – OMAP3 Hundreds of devices will use OMAP3 Shrinking price Growing commercial community Tons of dev tools Building Robots with the BeagleBoard Nathan Monson
    16. Beagle Community – OMAP3 Devices Pandora Archos 5 Google Phones Nokia Maemo-5 Building Robots with the BeagleBoard Nathan Monson
    17. Beagle Community – OMAP3 Boards Gumstix Overo OpenPandora Magniel Inc Many more... Building Robots with the BeagleBoard Nathan Monson
    18. Why Build a Beagle Bot? Community Ease of development Peripheral support Code reuse Performance/watt Building Robots with the BeagleBoard Nathan Monson
    19. Ease of Development – HLLs Natively run full development tools GCC/GDB Python Java/Eclipse ...hundreds more... Run complete robot SDKs Pyro Player/Stage BeagleBoard is “unbrickable” At least at 5V... Building Robots with the BeagleBoard Nathan Monson
    20. Ease of Development – Debugging Realtime remote debug via WiFi Video output for vision debugging Log 8KB data at 1KHz for 1 hour Or uncompressed 640x480 at 25FPS Or every run your robot ever made... Building Robots with the BeagleBoard Nathan Monson
    21. Ease of Development Dale Wheat's “3pi” is a BeagleBot Log data from runs Wirelessly debug between runs Building Robots with the BeagleBoard Nathan Monson
    22. Why Build a Beagle Bot? Community Ease of development Peripheral support Code reuse Performance/watt Building Robots with the BeagleBoard Nathan Monson
    23. Peripheral Support – USB USB peripherals are: Cheap Everywhere Low power Noise resistant Often better than kits or modules BeagleBoard loves USB Up to 16 devices at 480Mbps Thousands of drivers Building Robots with the BeagleBoard Nathan Monson
    24. Peripheral Support – Interface Modules USB-enabled interface modules High voltage/power I/O Servo, DC, stepper motor (Optional) Local processing Many under <$100 Building Robots with the BeagleBoard Nathan Monson
    25. Why Build a Beagle Bot? Community Ease of development Peripheral support Code reuse Performance/watt Building Robots with the BeagleBoard Nathan Monson
    26. Code Reuse – Open Source Robotics Linux-based open source covers: SLAM Simulation Kinematics Path Finding Teleoperation Sensor Fusion Visual Servoing Laser Scanning Computer Vision Speech Synthesis Machine Learning Object Recognition Speech Recognition Stereo Correspondence Building Robots with the BeagleBoard Nathan Monson
    27. Code Reuse – ROS Project Willow Garage is creating the Robot Operating System Linux-based “distro” of best OSS Code cleaned up and wrapped to common API Tested on real robots Tony might be the first to use ROS on his BeagleBot Building Robots with the BeagleBoard Nathan Monson
    28. Code Reuse – My Favorites Kinematics and Dynamics Library Provide config file and XYZ – get joint positions OpenCV Calibrate cameras, track blobs, recognize objects and faces Surveyor Stereo Vision System High speed 3D stereo correspondence Player/Stage Framework for mobile robots EmbedCV Fast, targets ARM Easy to understand Building Robots with the BeagleBoard Nathan Monson
    29. Code Reuse – Telepresence via Skype Marque Cornblatt's Sparky Uses Skype via WiFi Building Robots with the BeagleBoard Nathan Monson
    30. Why Build a Beagle Bot? Community Ease of development Peripheral support Code reuse Performance/watt Building Robots with the BeagleBoard Nathan Monson
    31. Performance/Watt – Comparison Board Single FP 16-bit Int Peak Idle Watt/GF Blackfin N/A 1 GMACs 1.4W 1.4W N/A BeagleBoard 2.4 GFlops 2.4 GMACs 2W 1W 0.83 Atom/N8044 2.2 GFlops 2.2 GMACs 10W 5W 4.54 Core 2 Duo 38.4 GFlops 38.4 GMACs 55W 30W 1.43 Building Robots with the BeagleBoard Nathan Monson
    32. Performance/Watt – With DSP Board Single FP 16-bit Int Peak Idle Watt/GF Blackfin N/A 1 GMACs 1.4W 1.4W N/A BeagleBoard 2.4 GFlops 5.84 GMACs 2W 1W 0.83 Atom/N8044 2.2 GFlops 2.2 GMACs 10W 5W 4.54 Core 2 Duo 38.4 GFlops 38.4 GMACs 55W 30W 1.43 DSP adds “bonus” 3.44 GMACs (6.88 GMACs 8-bit) Building Robots with the BeagleBoard Nathan Monson
    33. Peak Performance Example OMAP35x Processor Vision Processing C64x+™ DSP and video accelerators Display Subsystem (3525/3530 only) USB Cameras ARM® LCD Cont- Video bit DAC 10 roller Enc 10 bit DAC Up to 2x800x600x25 Cortex™- A8 2D/3D DSP 8-bit 6.88GMAC/s Graphics Camera I/F CPU (3515/3530 only) Image Parallel I/F ARM FPU 2.4GigaFlops Pipe No wasted bandwidth L3/L4 Interconnect DSP programmed in C Peripherals Connectivity USB 2.0 HS System Timers USB Host TI compiler is free* OTG Controller Controller x2 GP x12 WDT x2 Serial Interfaces Program/Data Storage OMAP3 is VERY fast MBSP x5 IC 2 x3 UART x2 HDQ / 1-wire SDRC MMC/SD/ UART GPMC SDIO x3 MSPI x4 w/IRDA Some CMUcam enthusiasts already on BeagleBoard Building Robots with the BeagleBoard Nathan Monson
    34. Adding Beagle to Your Bot Existing Robots New Robots Gotchas Building Robots with the BeagleBoard Nathan Monson
    35. Adding Beagle to an Existing Robot Power input must be 4.75V-5.25V (ideally 5.0V) USB hub must have a power cable, can't use USB cable Requires 400mA for board plus up to 500mA per USB device Cameras use around 150mA, wifi can use up to 300mA Consider a Battery Elimination Circuit for model airplanes Typical BECs deliver 5.0V at 3-5A with input from 5.5V-25V for $25 Output supply is well-isolated from motors Building Robots with the BeagleBoard Nathan Monson
    36. Existing Robots via TTL UART FTDI USB to TTL UART Automatically appears as /dev/ttyUSB0 RS232 Level Shifter Use Beagle's RS232 port Building Robots with the BeagleBoard Nathan Monson
    37. Existing Roombas via USB RooStick Automatically appears as /dev/ttyUSB0 Roomba SCI libraries work with BeagleBoard Building Robots with the BeagleBoard Nathan Monson
    38. Adding Beagle to Your Bot Existing Robots New Robots Gotchas Building Robots with the BeagleBoard Nathan Monson
    39. Make Controller-Based BeagleBot Make Controller is $109 4 2A DC motors, 4 servos, 8 ADC Speaks OSC over USB OSC ported to most languages Robot-friendly community Runs custom firmware Building Robots with the BeagleBoard Nathan Monson
    40. Arduino-based BeagleBot Arduino is widely available for <$40 Expandable via daughterboards Speaks MIDI over USB MIDI support in all languages Very large community Runs custom firmware Building Robots with the BeagleBoard Nathan Monson
    41. BeagleBoard Hacking GPIO on 28-pin header includes: UARTs, I2C, I2S, SPI, MMC/SDIO, GPIO All pins are 1.8V – level converters required for 3.3V/5V All features except I2S work in user mode (no drivers required) Daughterboards in the works GPIO level conversion ATmega GPIO/servo board Dave? None available yet... 2 LEDs available for status Building Robots with the BeagleBoard Nathan Monson
    42. Advanced OMAP3 Hacking – ZynBot Gumstix Overo Building Robots with the BeagleBoard Nathan Monson
    43. Gumstix Overo Pros and Cons Requires expansion module +$60 Half BB size -- 3.1”x1.5” A “Bioloid” robot module is coming Different features 256MB DRAM (BB has 128MB) WiFi and Bluetooth on stick MicroSD (no SDIO) Lacks S-Video, RS232 Different OMAP3 No DSP No 3D graphics Building Robots with the BeagleBoard Nathan Monson
    44. Adding Beagle to Your Bot Existing Robots New Robots Gotchas Building Robots with the BeagleBoard Nathan Monson
    45. BeagleBoard Gotchas Order the right stuff Correct serial cable “Powered” hub USB mini-A host cable Use the right kernel Anything older than 2.6.27 has buggy USB Some kernels lack comprehensive device support Be careful with power supply! Use USB power or precision regulator Building Robots with the BeagleBoard Nathan Monson
    46. Should I wait for Rev C? “Rev C” Beagle is coming February 2009 Adds another USB host port Adds tiny LCD controller pads Uses ES3.0 OMAP3 – minor bug fixes Might offer 256MB DRAM version (+$25) Otherwise identical – mounting is the same Building Robots with the BeagleBoard Nathan Monson
    47. References Your main source – purchase, research, Q&A HBRC Wiki – edit as you learn http://www.hbrobotics.org/wiki/index.php5/Beagle_Board Trossen Robotics – buy parts, join community http://www.trossenrobotics.com/ Makezine – inspiration and controllers http://makezine.com/controller/ Building Robots with the BeagleBoard Nathan Monson
    48. Thank you! Send your questions/ideas to the list: http://www.wildrice.com/HBRobotics/Subscribe.html Can't wait to see more Beagle Bots! Building Robots with the BeagleBoard Nathan Monson

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