Big Eye At Nits


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Responding the continuously increasing interest about robotics and autonomous vehicle applications in Oceania from the academics, research and the industry, we decided to deliver more in depth session about our robotics solutions at National Instruments Technical Symposium tour in Australia and New Zealand. In addition to our solutions, we also wanted to back-up our technologies by different user solutions, guest presentations from different areas of robotics and we were also looking to leverage achievements and experiences of our regional partners. After being introduced to the "Big Eye" solution for robotics at the recent A1 Meeting in Austin, we invited our colleagues at NI Korea to be our guest presenters at NITS. Chu Kim also extended the invitation to the Pohang Institute of Intelligent Robotics (PIRO) to present their LabVIEW powered solution for robot aided education at our two biggest NITS locations: Sydney and Melbourne.

The presentation, which featured in our ‘Robotics Showcase’, was delivered by Dr Tae Hun Kang, Research Team Manager of PIRO, and Gio Hwang, Marketing Manager from NI Korea. They presented a robot, known as ‘Big Eye’, a joint initiative between PIRO and NI Korea to provide very intuitive educational tools to tech students on the fundamentals of robotics, along with a guide to develop robotics application in LabVIEW. In addition, potential distributors for the Big Eye solution were invited to attend the session and later meet with PIRO and NI for private discussions at the events. Based on outstanding response from our audience and very good initial discussions with potential distributor in Australia, we believe the ‘Big Eye’ might salute to our students at local Universities in a very near future.
As well as these event and potential distribution successes, having our colleagues from Korea with us in Australia provided an excellent opportunity to exchange ideas, share successes and experiences and trigger ideas for future collaboration. We are looking forward to future partnerships such as this with our colleagues throughout the region.
Thanks to Chu Kim, Gio Hwang and Dr Kang for their enthusiasm, professionalism and support on this initiative.

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Big Eye At Nits

  1. 1. Robotics Platform with LabVIEW The first step into real Robotics Education Pohang Institute of Intelligent Robotics National Instruments Korea Tae Hun Kang Gio Hwang 1
  2. 2. Worldwide Robotics Education Trend • Dept. of Education along with BBC hosts Robot Compitition • The British Council : Lego Education for 11~16 years students •∙Starting ’08, initiative to fix robot education for all electrical engineering is under development • STEM(Science, Technology, Engineering and Mathematics) curriculum and robotics education • Well-known high school adopted •Through FIRST Competition, college students robotics course as a basic curriculum mentoring high school students, and giving grants • National Education Committee adopted Lego Education for Automation curriculum in 1997 • Taiwan Department of Education established TDK foundation to develop robot technology and human resource, and also sponsors “TDK Cup Robot Contest” • To further advance the science education, robot is being heavily discussed *Source: Ministry of Knowledge and Education of Korea 2
  3. 3. World Robotics Market 1 $8.12B (18.9% growth YOY) in 2007 CAGR ('03~'07)  Industrial Robot $5.89B Unit: M$ 8,126 7,771 18.7%  Service Robot $2.23B 4,451 2.6% Total 5,894 5,597 Indus. Robot 3,817 46.0% 2,174 2,232 Service Robot 634 ‘03 ‘05 ‘07 Source: IFR, World Robotics 2008 2 By 2013, Market Size will be $30B ~ $50B, Optimistic Forecast  Industrial Robot in 2012, $7.5B ~ $30B Market  By 2025, Service Robot Market will grow 10X Mid Forecast Minimum Forecast 3
  4. 4. A Robotics Platform for All Ages Powered by NI LabVIEW Kindergarten ~ 12 High-school ? University Industry 4
  5. 5. Paradigm Shift in Robotics Industry I Robot Industry growing larger and diversified Intelligent Service Robot Industrial Robot AI • Electrics • Automation • Intelligent Control • Voice • Computer • PID Control • Vision • Software • Electronics • Mechanics • Communication • Sensor • Repetitive task • Autonomous task • High precision • High adaptability • Structured environment • Unstructured environment • Manufacturing • Human friendly assistance System Integration 5
  6. 6. Intelligent Robots- Fusion of Existing and New Technology Existing New Technology Technology Mechanical New Materials Electrical AI Controls IT, BT, NT 6
  7. 7. Intelligent Robot Development Process Mechanical Electrical CAD Design Sensors, System Model Model & Simulation Actuators Identification 7
  8. 8. Open Platform - Connectivity Other Languages Standard Communication • DLL Protocol • ActiveX Library • Serial (RS232/485) • .NET Assembly • Ethernet • m-file Script • USB • CAN, DeviceNet ADE • I2C, SPI • MATLAB, Simulink • IEEE 1394 • SolidWorks • GPIB • EXE file • VXI • PXI 8
  9. 9. I/O Module Development Kit (MDK) • Open Low-level Electrical Spec • Can embed any sensor or microprocessor • Examples of MDK • 8, 16, 32-bit Microprocessor • Piezo Actuator Motion Module • GPS, GPRS, GSM Module • MEMS Accelerometer Sensor, Gyro Module 9
  10. 10. Inverse Kinematics Arm: 3DOFs Body Coordinate System Wheel(right) Wheel(Left) Fixed Coordinate System Define Coordinate System 10
  11. 11. Inverse Kinematics 11
  12. 12. Inverse Kinematics Programming (C code) 12
  13. 13. Inverse Kinematics Programming(LabVIEW) 13
  14. 14. Project Overview National Instruments: Korea  Platform Design  Electric Devices Development  Algorithm Development  Programming with LabVIEW  Dynamic Simulator Making  Textbook Pohang Institute of Intelligent Robotics
  15. 15. Suggested Robot Curriculum (1) Introduction • History of Robotics • Simulator and Program installation (2) Part-1: Actuator, Sensor, and Network • DC/BLDC/Stepping motor • Sensors, Filters, OP-Amp • ADC/DAC • RS232/RS485/RS422/SPI/CAN/I2C communication introduction (3) Part-2: Robot Kinematics • Coordinate System Definition/modification • Forward Kinematics /Inverse Kinematics (4) Part-3: Intro to Robot Engineering(Dynamics) • Velocity/Acceleration Analysis • Jacobians • Dynamics Analysis (5) Part-4: Intro to Robot Engineering(Mobile: Kinematics) • Analysis based on different shapes of wheels • Mobile Robot Analysis (6) Part-5: Intro to Robot Engineering(Mobile: Localization) • Location Recognition/Kalman Filter • Mapping (7) Part-6: Intro to Robot Engineering(Mobile: Path Planning) • Entire and partial Directional Configuration (8) Part-7: Controls • System Modeling • PID Control • Path Planning (9) Part-8: Artificial Intelligence • Neural Network • Fuzzy/Genetic Algorithm • Emotion to Robotics
  16. 16. Tutorial / Education Plan 3rd STEP 2nd STEP Advanced Education • Rigid body Kinematics and dynamics • System design 1st STEP Practical Education • Mechanical Design • Robot application • Electric Circuit Design Foundation / Basics • Networks between devices • Introduction to robotics and mechatronics • Basic control theory • Overview of LabVIEW • Understanding the needs of the learners.
  17. 17. Textbook Contents Theory Hands-on Exercise Introduction to LabVIEW LabVIEW Overview of LabVIEW Basic Programming LabVIEW : Programming Study LabVIEW Programming LabVIEW : Data Acquisition Introduction to DAQ CompactDAQ (ADC/DAC) Compact DAQ Introduction to Robotics Simulation Actuator, Sensor, Network Model based control Robot Kinematics / Dynamics Two/Three DOFs system Wheel based robot: Localization Robot platform: BigEye Artificial Intelligence Fuzzy, Genetic AL. etc. Practice Robot Platform Overview of BigEye BigEye Component Control Navigation / Localization
  18. 18. Textbook
  19. 19. Robot Platform Dual Arm • 3DOFs for each arm(RC Motor) Main Controller • Position control Head • NI cRIO-9004 • CMOS camera(2EA) • 4CH • RF Module Slot • Additional two slots Sonar Sensor • 7EA • Range: 15~500cm Battery Power manager • Li-Poly • controlled by main • 11.1volt 2200mah, 18C controller or remote • Operation time: 2hr operator Wheel & Driving Unit Sub-Controller • Differential Driven • BLDC Motor • BLDC motor(50watt) • Harmonic drive(50:1)
  20. 20. Robot Platform piroNI piroBLDC Motor Ecflat 45 Encoder cRioBus Motor LabView cRIO Encoder RS485 DX-117 piroSONAR Wireless RS232 I2C RS485 SRF-02 piroARS RS485
  21. 21. Robot Simulator Robot@Simulator Controller@LabView Virtual Device Driver Controller Robot Model Viewer PWM Balancing Algorithm Dynamics Engine Geometry Engine - ODE Encoder FK / IK - Bullet Texture Lib. - Physx Inclinometer Motion Planning TCP/IP Feedback Collision Engine Sonar Sensor Sensor Fusion Model Lib. RC Motor TCP/IP Environment Lib. Utilities Query Scope External A Mesh Generator VRML Viewer
  22. 22. Robot Simulator Robot status from the Simulator (TCP/IP) Virtual Device Driver Balancing & Rotation Control Control Command to the Simulator (TCP/IP) Arm Control
  23. 23. Reference Algorithm
  24. 24. Reference Algorithm
  25. 25. Thank You