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Talking to Robots with Pharo
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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: …

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

Published in: Technology

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