Talking to Robots with Pharo

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In this presentation we will give an overview of we have been developing in Pharo for building robotics applications:
-PhaROS

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Talking to Robots with Pharo

  1. 1. Noury  Bouraqadi,  Luc  Fabresse,  Jannik  Laval   h"p://car.mines-­‐douai.fr   Talking  to   with  
  2. 2. Very long-term goal!
  3. 3. 4    Current  Robots  
  4. 4. 5   Robots  at  our  lab  
  5. 5. 6   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware  
  6. 6. 7   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  
  7. 7. 8   MulHple  Kinds  of  Robots  
  8. 8. 9   MulHple  Kinds  of  Robots  
  9. 9. Noury  Bouraqadi  –  JM2L  2010   10   MulHple  Kinds  of  Robots  
  10. 10. Heterogeneity  Challenge   •  Different  sensors  &  actuators   •  Different  shapes  &  sizes     •  Different  compuHng  capabiliHes   11  
  11. 11. Heterogeneity  Challenge   12   Different  low-­‐level  algorithms   Different  Drivers  &  Protocols  
  12. 12. Heterogeneity  Challenge   13   Different  low-­‐level  algorithms   ImplementaHons   exist   Different  Drivers  &  Protocols  
  13. 13. 14   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  14. 14. 15   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python   ?        
  15. 15. 16   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Middleware   Algo   Algo   C,  C++   Python        
  16. 16. 17   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  17. 17. 18   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  18. 18. Robot  Guide  using   19   •  Museum   •  Hospital   •  Shopping  Mall   •  …  
  19. 19. Robot  Guide  using   20   •  Museum   •  Hospital   •  Shopping  Mall   •  …  
  20. 20. Laser  Scans  à  Map  
  21. 21. Annotated  Map  
  22. 22. Robot  Guide  using   23   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware  
  23. 23. Robot  Guide  using   24   Path     Planner   LocalizaHon   System   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware  
  24. 24. Robot  Guide  using   25   Path     Planner   LocalizaHon   System   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware   App   Bridge  
  25. 25. Talking  to   with  
  26. 26. Talking  to   with  
  27. 27. Talking  to   with   (Talk  Today)  
  28. 28. More  Challenges   29  
  29. 29. More  Challenges   30   Changing   CondiHons   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  30. 30. More  Challenges   31   Self   Adapta;on   Changing   CondiHons   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  31. 31. More  Challenges   32   Smalltalk   +  FPGA   (Talk  Tomorrow)   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  32. 32. More  Challenges   33   TDD   Hardware   +  SoCware   IntegraHon  
  33. 33. 34   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware  
  34. 34. 35   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware   Safety  
  35. 35. 36   Simula;on   Safety  
  36. 36. 37   SimulaHon   Noise   Resources   Failure   Asynchrony   Precision  
  37. 37. 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  
  38. 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  
  39. 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  
  40. 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  
  41. 41. 42   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  42. 42. 43   10  000  000+  
  43. 43. Big  Players  Invest  in  RoboHcs   •  Amazon  Drones  for  Parcel  Delivery   44  
  44. 44. Big  Players  Invest  in  RoboHcs   •  Google  Self-­‐Driving  Car     45  
  45. 45. Big  Players  Invest  in  RoboHcs   •  Google  Self-­‐Driving  Car     46   Google  Bought  8   RoboHcs  Companies  in   2013!  
  46. 46. 47   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  47. 47. 48   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  48. 48. 49   Thank  you  !  
  49. 49. Noury  Bouraqadi,  Luc  Fabresse,  Jannik  Laval   h"p://car.mines-­‐douai.fr   Talking  to   with  

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