利用 LabVIEW進行整合式機器人系統概念教學<br />吳維翰 / John<br />
About Me<br />學歷: 美國麻省 Tufts University<br />機械工程系學士、碩士 (2002, 2004)<br />畢業論文:<br />The Development of Well-Defined 3D Bi...
Robotics Engineering<br />Integration of many curriculums<br />Mechanical, electrical, computer engineering<br />Worldwide...
Pain points from educators<br />Cannot teach “system design” in short time<br />Isolation of different fields<br />Cannot ...
What can we deliver?<br />C Code<br />Dataflow<br />Textual Math<br />Simulation<br />Statechart<br />System-leveltools fo...
What can we deliver?<br />System-leveltools for design<br />Integrated platform<br />Direct deploy to embedded systems<br ...
What can we deliver?<br />PXI Systems<br />System-level tools for design<br />Integrated platform<br />Direct deploy to em...
A robot simplified…<br />
In reality…<br />Really messy<br />Lots of stuff to integrate<br />And you don’t even know if it works<br />Need to simply...
The graphical approach<br />
The graphical approach<br />Vision<br />Ultrasonic<br />Microphone<br />GPS<br />LIDAR<br />Object Tracking<br />Avoidance...
Example: LEGO NXT Vision Tracking<br />
The graphical approach<br />Acquire Image<br />Analyze Position<br />PID Control<br />
The graphical approach (con’t)<br />Multi-rate loops<br />Watchdog Timer<br />Sensor #1<br />Fuzzy Control<br />Σ<br />Sen...
Holonomic Robot Case Study<br />
Case study: holonomic robot<br />Rotation matrix calculation<br />Simultaneous PID for 4 motors<br />Laser rangefinder for...
Acquiring Hokuyo Sensor data<br />PID closed-loop control, 4 motors<br />Rotation Matrix Calculation<br />Obstacle Avoidan...
NTU example<br />羅仁權 博士<br />國立台灣大學電機工程學系教授<br />台灣機器人學會理事長<br />
The Challenge<br />Robots start at “Start Point”<br />Navigate to Waypoint 1.  Wait for 5 seconds.<br />Navigate to Waypoi...
NTU movie<br />
Results<br />13 student surveys<br />此實習課程有沒有讓您對機器人技術系統整合更加了解?<br />13 responded yes<br />Other feedback:<br />易上手,program...
Conclusion<br />Cannot Can teach “system design” in short time<br />Isolation Integration of different fields<br />Cannot ...
Coming soon: LabVIEW Robotics 2009<br />
FIRST Robotics Competition Selects National Instruments CompactRIO for Next-Generation Robot Control System <br />Over 50,...
Upcoming SlideShare
Loading in...5
×

利用 Lab View 進行整合式機器人系統概念教學

2,829

Published on

這是在2009 NI Professor Days 所發表的講題

Published in: Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total Views
2,829
On Slideshare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
Downloads
0
Comments
0
Likes
0
Embeds 0
No embeds

No notes for slide
  • For the 2009 competition, FIRST Robotics will standardize on LabVIEW & cRIO for their next generation Mobile Device ControllerImpact of the New Controller Key Points: Next-generation control system enables students to build more sophisticated robotics systemsSolve more complex challengesHands-on learning helps connect theory and the real world.Industry-standard technology means students gain knowledge for university studies and professional careersDiscuss that NI will provide the product that will be the standard for FTC and FRC
  • 利用 Lab View 進行整合式機器人系統概念教學

    1. 1. 利用 LabVIEW進行整合式機器人系統概念教學<br />吳維翰 / John<br />
    2. 2. About Me<br />學歷: 美國麻省 Tufts University<br />機械工程系學士、碩士 (2002, 2004)<br />畢業論文:<br />The Development of Well-Defined 3D Biomaterial Scaffolds for Cellular Growth Studies Using a Micromolding Approach <br />經歷:<br />美商國家儀器 應用工程師<br />美商國家儀器 教育訓練課程 講師<br />美商國家儀器 行銷工程師<br />美商國家儀器 新竹縣業務工程師<br />台灣區機器人競賽 WRO,FLL 技術裁判<br />現職: 美商國家儀器 行銷部技術經理 <br />吳維翰 / John<br />行動電話: 0910-611-802<br />電子郵件: wei-han.wu@ni.com<br />
    3. 3. Robotics Engineering<br />Integration of many curriculums<br />Mechanical, electrical, computer engineering<br />Worldwide robotics market is big!<br />Challenge: depth and breadth<br />
    4. 4. Pain points from educators<br />Cannot teach “system design” in short time<br />Isolation of different fields<br />Cannot deploy to embedded hardware<br />No defined curriculum<br />
    5. 5. What can we deliver?<br />C Code<br />Dataflow<br />Textual Math<br />Simulation<br />Statechart<br />System-leveltools for design<br />Integrated platform<br />Direct deploy to embedded systems<br />
    6. 6. What can we deliver?<br />System-leveltools for design<br />Integrated platform<br />Direct deploy to embedded systems<br />FPGA<br />LabVIEW Desktop<br />Microprocessors<br />Real-Time<br />
    7. 7. What can we deliver?<br />PXI Systems<br />System-level tools for design<br />Integrated platform<br />Direct deploy to embedded systems<br />Custom Design<br />Personal Computers<br />CompactRIO<br />SB RIO<br />
    8. 8. A robot simplified…<br />
    9. 9. In reality…<br />Really messy<br />Lots of stuff to integrate<br />And you don’t even know if it works<br />Need to simply the problem<br />Levels of abstraction<br />Don’t get lost in the “details”<br />
    10. 10. The graphical approach<br />
    11. 11. The graphical approach<br />Vision<br />Ultrasonic<br />Microphone<br />GPS<br />LIDAR<br />Object Tracking<br />Avoidance<br />SLAM<br />Navigation<br />PID<br />PWM<br />Closed-loop control<br />Fuzzy Control<br />Adaptive Control<br />
    12. 12. Example: LEGO NXT Vision Tracking<br />
    13. 13. The graphical approach<br />Acquire Image<br />Analyze Position<br />PID Control<br />
    14. 14. The graphical approach (con’t)<br />Multi-rate loops<br />Watchdog Timer<br />Sensor #1<br />Fuzzy Control<br />Σ<br />Sensor #2<br />Sensor Fusion Algorithm<br />Sensor #3<br />PID Control<br />Inverse Kinematics<br />
    15. 15. Holonomic Robot Case Study<br />
    16. 16. Case study: holonomic robot<br />Rotation matrix calculation<br />Simultaneous PID for 4 motors<br />Laser rangefinder for obstacle avoidance<br />Navigation planning<br />Wireless communicationand HMI<br />In order to do this, you MUST look at the entire system<br />
    17. 17. Acquiring Hokuyo Sensor data<br />PID closed-loop control, 4 motors<br />Rotation Matrix Calculation<br />Obstacle Avoidance<br />Wireless control, USB joystick interface (PC)<br />
    18. 18. NTU example<br />羅仁權 博士<br />國立台灣大學電機工程學系教授<br />台灣機器人學會理事長<br />
    19. 19. The Challenge<br />Robots start at “Start Point”<br />Navigate to Waypoint 1. Wait for 5 seconds.<br />Navigate to Waypoint 2. Wait for 5 seconds.<br />Navigate back to “Start Point”<br />Penalties:<br />Touch cone<br />Touch wall<br />Reset robot<br />
    20. 20. NTU movie<br />
    21. 21. Results<br />13 student surveys<br />此實習課程有沒有讓您對機器人技術系統整合更加了解?<br />13 responded yes<br />Other feedback:<br />易上手,programming easy<br />將所有部份整合一起時,資源安排和流程分配需要多加考慮<br />
    22. 22. Conclusion<br />Cannot Can teach “system design” in short time<br />Isolation Integration of different fields<br />Cannot Can deploy to embedded hardware<br />
    23. 23. Coming soon: LabVIEW Robotics 2009<br />
    24. 24. FIRST Robotics Competition Selects National Instruments CompactRIO for Next-Generation Robot Control System <br />Over 50,000 High School Students to use cRIO, powered by NI LabVIEW<br />

    ×