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Sundance VCS-1 for Precision Robotics


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Vision, Control and Sensors fro Precision Robotics.

The VCS-1 is a PC/104 Linux stack composed of 2 main components, namely the EMC2 board which is a PCIe/104 OneBank™ carrier for a Trenz compatible SoC Module and the FM191 expansion card that fans out the I/Os from the SoC to the outside world.

The SoC from the Xilinx Zynq Series provides standard connectivity (e.g. SPI, RS232, I2C, USB, GigE, PCIe, etc), Dual Core ARM Cortex A9 which is used to run Ubuntu Linux OS and ROS Melodic, memory interfaces and Programmable Logic used for Hardware acceleration and GPIO.

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Sundance VCS-1 for Precision Robotics

  1. 1. Vision, Control & Sensors Precision Robotics Sundance Multiprocessor Technology Ltd.
  2. 2. THE COMPANY Established in 1989 by Flemming CHRISTENSEN • Employee Owned and a ’Life-Style’ company • 10x people with 300+ years experince • 4x with accredited Xilinx FPGA training • Always designed and built our own products • BSI - ISO9001-2015 certified, since 2003 Techology Focus • Acceleration,Vision, Sensor & Robotics 2
  3. 3. • VCS-1 Overview • VCS-1 Hardware features • VCS-1 Sensors compatibility • VCS-1 Industry compatibility • VCS-1 Deep Learning & AI • VCS-1 Applications • VCS-1 Open software and firmware • VCS-1 Endorsement • VCS-1 Summary & What’s next? 3 VCS DEVELOPMENT PLATFORM
  4. 4. A Xilinx Zynq MPSoC is the ‘heart’ of VCS-1 and provide 64-bit processor scalability while combining real-time control with soft and hard engines for graphics, video, waveform, and FPGA acceleration, using a Trenz TE0820 “SoM”. VCS-1 PROCESSING – EMC2-ZU4 4
  5. 5. VCS-1 I/O INTERFACES – FM191 Connectivity:  FM191-R; FMC-LPC to:  15x Digital I/Os [DB9]  12x Analogue Inputs [DB9]  8x Analogue Outputs [DB9]  1x Expansion [SEIC]  FM191-U; SEIC to:  4x USB3.0 [USB-c]  28x GPIO [40-pin GPIO]  FM191-A1; 40-pin GPIO  28x GPIO [DB9] 5
  6. 6. A custom enclosure was specially designed for accommodating the VCS-1 system, called PC104-Blade 6 VCS-1 RUGGED ENCLOSURE
  7. 7. The VCS-1 is compatible with a wide range of sensors, like: Depth sensor. Interface USB3.0 Intel RealSense - D435 VCS-1 SENSORS COMPATIBILITY 7 Tracking sensor. Interface USB3.0 Intel RealSense – T265
  8. 8. VCS-1 INDUSTRY COMPATIBILITY VCS-1 features:  Raspberry Pi version 3 model B and Arduino compatible  Compatible with most of the Arduino/Raspberry Pi sensors and actuators  USB3.0 & Ethernet ports for interfacing with a wide range of sensors 8
  9. 9. VCS-1 HARDWARE DEBUG TOOLS 9 VCS hardware debugging is easy with industry standard JTAG directedly into the Zynq MPSoC  TULIPP’s LynSyn Power Monitor & Toolchain    Xilinx JTAG Platform Hardware Cable   Xilinx JTAG SmartLynq Cable 
  10. 10. VCS-1 OPEN SOURCE Open Source and online documentation:  CERN’s Open Hardware Repository   VCS Hardware   VCS Software   VCS Firmware  10
  11. 11. VCS-1 DEVELOPMENT TOOLS VCS’s “Processing System” (PS) running within the ARM A53 CPUs, is supported by Linux: ► ► VCS has a version of Ubuntu 16.04 LTS and 18.04 LTS ported and for free download. Xilinx also offers free option of an embedded Linux for Zynq, called PetaLinux: ► The VCS’s “Programable Logic” (PL) – that is the ‘classic’ FPGA fabric - is supported by the free WebPACK & SD-SoC environment from Xilinx: ► ► 11
  12. 12. VCS-1 PROGRAMMING TOOLS  MQTT compatible  OASIS standard  Machine-to-machine (M2M)/"Internet of Things" connectivity protocol.  OpenCV compatible  Open source computer vision and machine learning software library.  ROS compatible  The Robot Operating System (ROS) is a set of software libraries and tools that helps building robot applications.  ROS2 ready  PYNQ compatible  PYNQ is an open-source project from Xilinx that is utilizing Python & Jupyter to make it easy to design embedded systems with Zynq 12
  13. 13. The VCS-1 is fully compatible with the Xilinx reVision stack, DPU for Neural Network and AI Inference.  Includes support for the most popular neural networks including YOLO, AlexNet, GoogLeNet, CAFFE, DarkNet, TensorFlow VGG, SSD, and FCN.  Optimised implementations for CNN network layers, required to build custom neural networks (DNN/CNN) = Xilinx DNNDK™ 13 VCS-1 DEEP LEARNING & EDGE AI
  17. 17. VCS-1 ENDORSEMENT 17
  18. 18. VCS-1 ENDORSEMENT 18
  19. 19. 19 VCS-1 ENDORSEMENT
  20. 20. SUMMARY The VCS-1 has the following characteristics: 1. High performance, using ‘state-of-the-art’ Xilinx Zynq MPSoC 2. Low power consumption (typical 10W) 3. Highly compatible with a wide range of commercially available sensors and actuators 4. Highly optimised for computer vision applications, embedded AI and Deep Learning 5. Fully reconfigurable and expandable using PC/104 form-factor (90mm x 96mm) 6. Compatible with the most common Linux distros (I.e. Ubuntu, Debian, RedHat, CentOS, etc.) 7. Software support for ROS and MQTT 8. Python and C/C++ support 20
  21. 21. WHAT’S NEXT ?  Research topics:  Object detection, changes detection, visual servoing  Autonomous navigation, object grasping  Pose estimation, perception, AI in robotics  Sundance University Program (SUP)  Access to hardware prototypes  Advisory Board Members  BSC/MSc/PhD Internships  R&D Project proposals  H2020, Innovate-UK, EuroSTARS  EPSRC/BBSRC/UKRI/SPRINT Want to know more about Sundance in R&D Projects ? 21
  22. 22. 22 Sundance Multiprocessor Technology, Ltd. Pedro Machado Flemming Christensen