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How to Design Distributed Robotic Control Systems

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Originally presented on September 08, 2016.

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How to Design Distributed Robotic Control Systems

  1. 1. Doug Barker, Senior Robotic Systems Engineer, Energid Dr. Edwin de Jong, RTI How to Design Distributed Robotic Control Systems Moderator: Curt Schwaderer, OpenSystems Media Speakers:
  2. 2. Agenda  Housekeeping  Presentation  Questions and Answers  Wrap-up
  3. 3. Distributed Robotic Control using Actin and DDS Douglas Barker, Ph.D. Energid Technologies www.energid.com Copyright 2016 Energid
  4. 4. Overview • Energid and Actin Overview • Actin DDS Capabilities • Project Examples Copyright 2016 Energid
  5. 5. Energid develops software for simulation and control of any robotic system. Actin software is at the core of our business: • Actin SDK • Actin Applications • Integration Services Energid Technologies Copyright 2016 Energid
  6. 6. Actin Software • Multi-robot coordination • Dynamic collision avoidance • Singularity avoidance • Kinematically redundant mechanisms • Complex kinematic chains • Global path planning • Real-time dynamic simulation • IO and sensor feedback • Easy integration of new hardware components • Integration with CAD • Desktop applications for Windows, Linux, OS X • Control on VxWorks, Real-Time Linux and RTOS32 • Distributed processing over DDS Simulation and control software for any robotic system Copyright 2016 Energid
  7. 7. Actin Software Actin is a high level robotics control framework One column for each robot (executed on separate machine) Task building blocks Multi-robot tasks can be created on one machine and executed on many Copyright 2016 Energid
  8. 8. Actin Use Cases Simulation for Design and Evaluation Control for Dynamic Environments Copyright 2016 Energid
  9. 9. It was customer driven: • Many government customers began emphasizing DDS • Single-robot deployments • Increasing demand for “remote” capability • Multi-robot deployments • One robot controller machine per robot • Communication between the controllers consists of: • Commands, state synchronization, sensor feedback, hardware status • Safety and mission critical systems Learned first hand that developing and maintaining our own communications middleware was going to be cost prohibitive. Why did Energid adopt DDS? Copyright 2016 Energid
  10. 10. • There is a trend towards higher-level frameworks • Joint-level control to end-effector control to path planning • Traditional socket IPC to DDS • Message contents and delivery are independent • Powerful Quality-Of-Service (QOS) options • Multiple communication channels (unicast, multicast, shared memory) • Message is the “what” • QOS determines “if”, “when”, “where”, and “how” • Redundancy and fail safety • Allow redundant processes running in parallel • Respond to critical system events (liveliness, latency, etc) • Simplify complex communication problems (Security) • Reduce development time Why use DDS for robotics? Copyright 2016 Energid
  11. 11. Actin DDS Capabilities • Common Architecture • Distributed Robot Control Architecture • Hierarchical Robot Control Architecture Copyright 2016 Energid
  12. 12. Actin DDS Plugin Architecture • Actin’s Plugin Architecture • Mechanism to add simulation capabilities at runtime • Custom DDS plugins can convert local robotic control into distributed robotic control • DDS Common Plugin • Shares DDS entities with custom DDS plugins • Domain participant factory • Domain(s) • Participant • Type registration • Topics • Partition(s) • Publisher • Subscriber ddsCommonPlugin Custom DDS Plugin 1 Custom DDS Plugin N . . . Shared DDS Entities Copyright 2016 Energid
  13. 13. Distributed Robotic Control Architecture actinViewer (Control) • ddsCommonPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlRequesterGUIPlugin actinRT (Robot 1) • ddsCommonPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlProviderPlugin • hardwarePlugin actinRT (Robot N) • ddsCommonPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlProviderPlugin • hardwarePlugin command primitives (joint frames, end-effector pose, …) robot states pub sub pub sub pub sub sub sub Copyright 2016 Energid
  14. 14. Hierarchical Robotic Control Architecture actinViewer (Control) • ddsCommonPlugin • ddsTaskPlayerPlugin • ddsDistributedTaskExecPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlRequesterGUIPlugin actinRT (Robot 1) • ddsCommonPlugin • ddsTaskExecPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlProviderPlugin • hardwarePlugin actinRT (Robot N) • ddsCommonPlugin • ddsTaskExecPlugin • ddsSimSynchronizationPlugin • ddsSensorManagerPlugin • ddsHardwareControlProviderPlugin • hardwarePlugin higher level tasks robot states and task status pub pub pub sub sub sub subsub Copyright 2016 Energid
  15. 15. Project Examples and Demos • Robot Drilling Systems • NASA Rover Proxy Simulation • Universal Robots Copyright 2016 Energid
  16. 16. Creating a fully autonomous robotic drilling platform Uses Hierarchical Distributed Tasking • High level tasking from a control machine Publishes – task command Subscribes – task status and robot state • Robots run on separate machines Publishes – task status and robot state Subscribes – task command and robot state Robotic Drilling Systems (RDS) Copyright 2016 Energid
  17. 17. RDS Tasking Demo Drill-Floor Robot Elevator Pipe Handler Rough Neck See videos at www.rds.no Four robots move simultaneously with dynamic collision avoidance Copyright 2016 Energid
  18. 18. NASA Rover Proxy Simulation Network Scientists Controllers Physical Vehicle Proxy Virtual Switch CORBA TCP/IP DLL Direct Link RTI DDS Use simulation as a proxy for real hardware Copyright 2016 Energid
  19. 19. Rover Proxy Simulation Rover Tasking Software Publish: • Rover Commands Subscribe: • Lidar Scan Data • Camera Data • Two Hazard Cameras • Pan Tilt Cam • Depth camera • Rover state Actin Software Publish: • Lidar Scan Data • Camera Data • Two Hazard Cameras • Pan Tilt Cam • Depth camera • Rover state Subscribe: • Rover Commands Copyright 2016 Energid
  20. 20. Two robots and a motion capture system. Models a collaborative human-robot work environment. • UR10 machine • Publish: UR3 command and UR10 state • Subscribe: UR3 state • UR3 machine • Publish: UR3 state • Subscribe: UR3 command and UR10 state • Optitrack Motion capture machine • Sends rigid body poses over UDP Universal Robots Demo Copyright 2016 Energid
  21. 21. Universal Robots Collision Avoidance Demo Robots dynamically avoid collisions with themselves and the environment. Communication of robot joint state and status is time critical. If one robot protective stops, then the others must know and respond. Copyright 2016 Energid
  22. 22. Thanks! Energid Technologies One Mifflin Place Suite 400 Cambridge, MA 02138 888.547.4100 www.energid.com
  23. 23. How to Design Distributed Robotic Control Systems Using DDS Edwin de Jong, PhD – edwin@rti.com RTI
  24. 24. ©2015 Real-Time Innovations, Inc. The smart machine era will be the most disruptive in the history of IT -- Gartner 2015
  25. 25. Robotics and IIoT Aligning The real value is a common architecture that connects sensor to cloud, interoperates between vendors, and spans industries Common technology that spans industries brings bold new approaches and enables fast change ©2015 Real-Time Innovations, Inc.
  26. 26. Space-Proven Data Link ©2015 Real-Time Innovations, Inc. NASA’s Human- Robotic Systems prototypes robots for extraterrestrial surfaces
  27. 27. Surgical Systems ©2015 Real-Time Innovations, Inc. • The Minimally Invasive Robotic Surgery (MIRS) system at DLR coordinates three robots to perform delicate heart surgery • The system closes a distributed loop between the robots and the remote surgeon’s control at 3kHz
  28. 28. 200+ companies strong Goal: build and prove a common architecture that spans sensor to cloud, interoperates between vendors, and works across industries
  29. 29. The DDS Standard for the IIoT • The Data Distribution Service (DDS) is the Proven Data Connectivity Standard for the IoT • OMG: world’s largest systems software standards org – UML, DDS, Industrial Internet Consortium • DDS: open & cross-vendor – Open Standard & Open Source – 12+ implementations Interoperability between source written for different vendors Interoperability between applications running on different implementations DDS-RTPS Protocol Real-Time Publish-Subscribe Distribution Fabric DDS API
  30. 30. Peer-To-Peer Plug & Play Databus ©2015 Real-Time Innovations, Inc. OMG Data Distribution Service (DDS) Control Commands Sensor SensorData ActuatorSensor SensorData Display
  31. 31. Data Centric Architecture ©2015 Real-Time Innovations, Inc. • Data-centric middleware maintains state • Middleware manages the content • CRUD operations on distributed state Persistence Service Recording Service Source (Key) Pos Dir Accel R1 (3.1, 7) (-1, 3.7) (0, 0) R2 (8, 4.5) (0,0) (0,0) R3 50.2 (5.1, 2) (0.2, 3)
  32. 32. More Robust Systems ©2015 Real-Time Innovations, Inc. Messaging • Ann: Can you visit on 1/23? • John: Yes • A: 23rd is booked, how about 2/20? • J: OK • A: March 6th is better… • J: OK • A: Can you stay longer? • J: No; start ½ hour earlier? • A: OK, confirmed! Data-Centric Pub-Sub • Add: 1/23 @ 11:30A • Change: 2/20 @ 11:30A • Change: 3/6 @ 11:30A • Change: Add dial-in info • Change: 3/6 @ 11:00A J: 2/20 A: 3/6 3/6 11:00 A J
  33. 33. DDS Real-Time Quality of Service • Highly tunable reliability protocol – Balancing throughput and latency – Across wide variety of interconnects • Time aware – Deadline notifications – Nanoseconds timestamps • Historic data for late joiners • Control over subscribed data – By time – By content
  34. 34. Sensor-to-Cloud Data Bus ©2015 Real-Time Innovations, Inc. Unit DataBus Unit DataBus • Connect… – Fast – Seamless – Secure • Across many platforms… • Over any networking technology Intelligent Machines Intelligent Systems Intelligent Industrial Internet Cloud DataBus Site DataBus Intelligent System of Systems Unit DataBus Sense Act Think HMI Machine DataBus Think HMI Machine DataBus Sense Act Think HMI Machine DataBus Hide Complex Topology behind a Single logical DataBus
  35. 35. Data Centricity Directly Controls Flow • Global Data Space – Automatic discovery – Read & write data in any OS, language, transport – Type Aware – Redundant sources/sinks/nets • No Servers! • QoS control – Timing, Reliability, Redundancy, Ordering, Filtering Shared Global Data Space DDS DataBus Patient Hx Device Identity Surgical robot SupervisoryCDS Physiologic State Operating Theater Clou d Offer: publish this 3KHz Reliable Request: Read this 60 Hz If patient = “Joe” Best-effort ©2015 Real-Time Innovations, Inc.
  36. 36. Applications of DDS Standard • Over 1,000 IIoT designs – Robotics – Healthcare – Automotive – Communications – Energy – Industrial – Defense • 15+ Standards & Consortia Efforts – Interoperability – Multi-vendor ecosystems ©2016 Real-Time Innovations, Inc.
  37. 37. ©2015 Real-Time Innovations, Inc. ROS 2 - Built on DDS + ROS usability less time spent here means more time to spent here
  38. 38. Data Security ©2015 Real-Time Innovations, Inc.
  39. 39. Security Example 39 Data Item Authentication Access Control Integrity Non- repudiation Confidentiality Device diagnostic data X X Remote commands X X X X Patient Data X X X X
  40. 40. Limitations of Transport Layer Security TCP/IP Capable Network Native DDS App DDS Library Native DDS APP DDS Library Secure Transport Secure Transport SSL, TLS or DTLS Native DDS APP DDS Library Secure Transport • No multicast • Poor latency/jitter • Robust networks only • Reliable delivery only • Data and headers always encrypted • Gross level security
  41. 41. Practical Fine-Grain Security • Per-Topic Security – Control r,w access for each function – Ensures proper dataflow operation • Complete Protection – Discovery authentication – Data-centric access control – Cryptography – Tagging & logging – Non-repudiation – Secure multicast – 100% standards compliant • No code changes! • Plugin architecture for advanced uses © 2015 Real-Time Innovations, Inc. CBM AnalysisPMU Control Operator State Alarms SetPoint Topic Security model: • PMU: State(w) • CBM: State(r); Alarms(w) • Control: State(r), SetPoint(w) • Operator: *(r), Setpoint(w) New Secure DDS Standard • Per topic security • Complete protection – Data-centric access control – Cryptography – Secure multicast – Standards compliant • No code changes! Topic security model: • PMU: State (w) • CBM: State(r); Alarms(w) • Control: State(r), SetPoint(w) • Operator: *(r), SetPoint(w)
  42. 42. ©2015 Real-Time Innovations, Inc. The Network Is The Robot
  43. 43. For More Information • DDS and RTI: www.rti.com • Building robotics and haptic systems with DDS: www.rti.com/industries/robotics.html • Get started with DDS for free: www.rti.com/downloads
  44. 44. Audience Q & A Doug Barker, Senior Robotic Systems Engineer, Energid Dr. Edwin de Jong, RTI
  45. 45. Thanks for joining us Event archive available at: http://ecast.opensystemsmedia.com/ E-mail us at: jgilmore@opensystemsmedia.com

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