Slides of the presentation given at the ICRA 2013 workshop on Software Development and Integration in Robotics (SDIRIII) http://robotics.unibg.it/tcsoft/sdir2013/index.html
First Tests of a Helper Robot in a Shopping MallNoury Bouraqadi
First experiments of a helper robot for shopping mall as announced in the 2013 edition of the European Smalltalk Users Group conference. This robot is developped using the PhaROS client of the ROS middleware.
Towards Live Programming in ROS with PhaROS and LRPNoury Bouraqadi
The document proposes a live programming approach for the Robot Operating System (ROS) using PhaROS and LRP. It identifies limitations of ROS for live programming like static launch files and lack of hot code swapping. The approach integrates a domain specific language for hierarchical state machines called LRP with PhaROS, a ROS client for the Pharo programming language. This allows ROS nodes to be developed in Pharo and everything to happen at runtime, enabling live parameter changes, code updates, and connection changes for ROS applications. Examples of using this approach include a robot that stops on obstacles and an obstacle avoider behavior.
This is a quick update on some of our recent projects where we use Smalltalk for driving robots at Ecole des Mines de Douai. This presentation was given at ESUG 2012 conference in Gent, Belgium.
The document discusses PhaROS, a framework for robotic behavior development based on the Robot Operating System (ROS) architecture. PhaROS aims to provide high-level abstractions to ROS and make it easier to program robots for tasks like navigation in unknown environments. It introduces concepts like nodes, topics, and services from ROS. PhaROS includes tools like a command line interface for installing, creating, and distributing robot software packages. Examples of implementations using PhaROS include drivers for robots and localization algorithms.
2) Serialize the object graph
3) Create and associate proxies
4) Replace original objects with proxies
The document proposes an application-level virtual memory system for object-oriented programs. It works by swapping out unused object graphs to secondary storage and replacing them with proxy objects in primary memory. When a proxy is accessed, its corresponding graph is swapped back in from secondary storage. Key aspects include assigning graph IDs, serializing graphs, creating associated proxy objects, and replacing original objects with proxies during swap out.
Autonomous Mobile Robots with Pharo Smalltalk. Presentation given at the JM2L (Journées Méditérrannéennes des logiciels libres). 27 nov 2010.
First introduce mobile robotics and robotic software architectures. Then presents Pharo using robotic examples.
SAE Arizona - Autonomous Vehicles IRC Presentation on 9/20/18Mark Goldstein
The document summarizes a presentation about the autonomous vehicle revolution. It discusses emerging technologies like imaging, sensors and connectivity that are enabling autonomous functionality. It provides examples of autonomous vehicles from companies like Waymo, Uber, Tesla and others. It also discusses how autonomous vehicles could impact transportation systems and the economy. Arizona is positioning itself as a leader in autonomous vehicle testing and development.
First Tests of a Helper Robot in a Shopping MallNoury Bouraqadi
First experiments of a helper robot for shopping mall as announced in the 2013 edition of the European Smalltalk Users Group conference. This robot is developped using the PhaROS client of the ROS middleware.
Towards Live Programming in ROS with PhaROS and LRPNoury Bouraqadi
The document proposes a live programming approach for the Robot Operating System (ROS) using PhaROS and LRP. It identifies limitations of ROS for live programming like static launch files and lack of hot code swapping. The approach integrates a domain specific language for hierarchical state machines called LRP with PhaROS, a ROS client for the Pharo programming language. This allows ROS nodes to be developed in Pharo and everything to happen at runtime, enabling live parameter changes, code updates, and connection changes for ROS applications. Examples of using this approach include a robot that stops on obstacles and an obstacle avoider behavior.
This is a quick update on some of our recent projects where we use Smalltalk for driving robots at Ecole des Mines de Douai. This presentation was given at ESUG 2012 conference in Gent, Belgium.
The document discusses PhaROS, a framework for robotic behavior development based on the Robot Operating System (ROS) architecture. PhaROS aims to provide high-level abstractions to ROS and make it easier to program robots for tasks like navigation in unknown environments. It introduces concepts like nodes, topics, and services from ROS. PhaROS includes tools like a command line interface for installing, creating, and distributing robot software packages. Examples of implementations using PhaROS include drivers for robots and localization algorithms.
2) Serialize the object graph
3) Create and associate proxies
4) Replace original objects with proxies
The document proposes an application-level virtual memory system for object-oriented programs. It works by swapping out unused object graphs to secondary storage and replacing them with proxy objects in primary memory. When a proxy is accessed, its corresponding graph is swapped back in from secondary storage. Key aspects include assigning graph IDs, serializing graphs, creating associated proxy objects, and replacing original objects with proxies during swap out.
Autonomous Mobile Robots with Pharo Smalltalk. Presentation given at the JM2L (Journées Méditérrannéennes des logiciels libres). 27 nov 2010.
First introduce mobile robotics and robotic software architectures. Then presents Pharo using robotic examples.
SAE Arizona - Autonomous Vehicles IRC Presentation on 9/20/18Mark Goldstein
The document summarizes a presentation about the autonomous vehicle revolution. It discusses emerging technologies like imaging, sensors and connectivity that are enabling autonomous functionality. It provides examples of autonomous vehicles from companies like Waymo, Uber, Tesla and others. It also discusses how autonomous vehicles could impact transportation systems and the economy. Arizona is positioning itself as a leader in autonomous vehicle testing and development.
La exitosa apuesta de HighService por la innovación tecnológicaVoces Mineras
This document discusses MIRS, a company that designs, integrates, and manufactures robotic solutions for mining and heavy industry. It provides examples of MIRS's experience with projects in areas like concentrate sampling, truck washing, refueling, and mill relines. The document also outlines current projects with customers in locations like Chile, Argentina, Belgium, and Indonesia. These include robotic systems for tasks such as filter press cleaning, big bag sampling, and drum sampling.
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James Lord - USCAD, Solutions Consultant and Edward Tallmadge - CEO, CyberCAD, Inc. present "UAV - Unmanned Aerial Vehicles to ASCE OC on December 10, 2015.
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An autonomous vehicle is a kind of vehicle which can drive itself to the destination without any human
conduction. This is also known as driverless vehicle, self-driving vehicle or robot vehicle. Autonomous
vehicles require the combination of various sensors to detect their surroundings and interpret the
information to identify the appropriate navigation path and the obstacles in the way.
Modern vehicles provide some autonomous features like speed controls, emergency braking or keeping
the vehicle into the lane. Here, differences remain between a fully autonomous vehicle on one hand
and driver assistance technologies on the other hand.
LiDARs for Automotive and Industrial Applications 2018 Report by Yole Develop...Yole Developpement
Will automotive change the LiDAR market?
More information on that report at https://www.i-micronews.com/report/product/lidars-for-automotive-and-industrial-applications-2018.html
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Mikrogor LTD is a Belarusian company founded in 2015 that specializes in research and development of passive radar systems, thermal imagers, and related technologies. It employs highly qualified specialists and uses advanced computer and microelectronic technologies to create precise radar systems. Mikrogor LTD partners with various foreign organizations and produces passive coherent radar systems and the latest technologies in optoelectronics and software development.
LiDAR, ADAS and the Autonomous Shuttles of TomorrowHEINZ OYRER
1) Autonomous shuttles are expected to help address urban transportation challenges like traffic, emissions, and accidents by transporting 4-15 people within restricted areas using predetermined paths.
2) A combination of sensors like LiDAR, radar, cameras, and GPS are needed for autonomous shuttle navigation, with LiDAR providing essential distance, angular resolution, and night visibility capabilities.
3) The use of LeddarTech's cocoon of 3D flash LiDAR sensors provides full 360 degree coverage without blind spots and enables autonomous shuttles to detect obstacles like pedestrians within the vehicle's dead zones to ensure safe navigation.
Machine Vision for Industry and Automation 2018 Report by Yole DeveloppementYole Developpement
Machine vision is at the heart of the automation revolution.
More information on that report at https://www.i-micronews.com/report/product/machine-vision-for-industry-and-automation-2018.html
For the full video of this presentation, please visit:
https://www.embedded-vision.com/industry-analysis/video-interviews-demos/2d-and-3d-sensing-markets-applications-and-technologies-pre
For more information about embedded vision, please visit:
http://www.embedded-vision.com
Guillaume Girardin, Photonics, Sensing and Display Division Director at Yole Développement, delivers the presentation "2D and 3D Sensing: Markets, Applications, and Technologies" at the Embedded Vision Alliance's September 2019 Vision Industry and Technology Forum. Girardin details the optical depth sensor market and application trends.
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The document is a final design proposal for an autonomous bomb disposal robot called MARTHA. It outlines specifications for the robot, which must locate and cut a wire connected to an object based on GPS coordinates while collecting soil and air samples. The robot must weigh less than 20 pounds, fit in a 2'x2'x2' container, cost under $200, and protect human lives by allowing bomb disposal from a safe distance. The engineering team developed MARTHA using an extensive design process to create an effective and affordable autonomous solution for bomb disposal.
This presentation holds an introduction about driverless car and its advancement which are made in the field of self driven cars. It covers a vast area on this field to give the reader a brief idea about the existing and upcoming idea of driverless car.
Obstacle Avoidance Robotic Vehicle Using Ultrasonic Sensor, Android and Bluet...IRJET Journal
This document describes an obstacle avoidance robotic vehicle that uses ultrasonic sensors for obstacle detection. An Arduino Uno controls the robot and ultrasonic sensors detect obstacles and send signals to the Arduino. An Android app connects to the robot via Bluetooth to control its movement and allow it to navigate around detected obstacles. The robot is designed to move autonomously while avoiding collisions through input from the ultrasonic sensors.
A Survey on Vehicle Tracking System using IoTIRJET Journal
This document summarizes a survey on vehicle tracking systems using IoT. It discusses various approaches taken in previous research projects that implemented vehicle tracking using technologies like Arduino, Raspberry Pi, GPS, GSM, and databases. The survey compares using Arduino vs Raspberry Pi as the embedded platform and on-chip vs server-side data storage. It is concluded that Raspberry Pi provides faster processing and more RAM compared to Arduino, and server-side storage offers more security and flexibility than on-chip storage.
IRJET - Toll Collection System using RFID (613 Highway) Jubail-Dhahran HighwayIRJET Journal
This document summarizes a project that aims to automate toll collection on Highway 613 in Saudi Arabia using radio-frequency identification (RFID) technology. The authors propose implementing an RFID tag system where each vehicle has a unique RFID tag that is scanned at toll stations. When a vehicle enters the coverage area of an RFID reader at a toll station checkpoint, the reader will detect the vehicle's RFID tag, read the unique code, and send it to a connected computer system to process the toll payment electronically. This proposed system aims to help regular maintenance of the highway and reduce traffic congestion.
PharoJS - Zürich Smalltalk Group Meetup November 2023Noury Bouraqadi
The document announces a Smalltalk meetup happening on November 10th 2023 that will feature a talk about PharoJS, a framework that allows developers to write code in Pharo and run it on JavaScript. PharoJS provides a transpiler to convert Pharo code to JavaScript, libraries to extend JavaScript objects with Pharo behaviors, and tools like a playground and inspector for JavaScript objects. Examples of projects using PharoJS include mobile apps built with HTML/CSS and web apps like PLC3000.com which has over 1000 tests and classes for its client and server code.
PharoJS dates back to 2015. True to Pharo's philosophy, it was started to build real world software.
Actually, the initial motivation behind PharoJS was building mobile applications based Web technologies using Cordova (formaly PhoneGap).
This means that for production, Pharo code is transpiled to Javascript to benefit from JS's portability and speed.
But, for development, we wanted to benefit from Pharo's unique set of features and IDE.
To do so, PharoJS provides a framework and a toolset that supports integrating Pharo code with third-party JS libraries.
It also enables testing and debugging applications running on a JS interpreter.
We'll discuss these features, and how they were successfully used to produce real world software.
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An autonomous vehicle is a kind of vehicle which can drive itself to the destination without any human
conduction. This is also known as driverless vehicle, self-driving vehicle or robot vehicle. Autonomous
vehicles require the combination of various sensors to detect their surroundings and interpret the
information to identify the appropriate navigation path and the obstacles in the way.
Modern vehicles provide some autonomous features like speed controls, emergency braking or keeping
the vehicle into the lane. Here, differences remain between a fully autonomous vehicle on one hand
and driver assistance technologies on the other hand.
LiDARs for Automotive and Industrial Applications 2018 Report by Yole Develop...Yole Developpement
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This document provides an overview and analysis of the LiDAR market from 2018-2024. It finds that the total LiDAR market is expected to grow at a 29% CAGR to $6 billion by 2024, driven primarily by the automotive sector. Within automotive, ADAS vehicles are forecasted to have a 55% CAGR and become the main application. The report also examines the various LiDAR technologies, players, investments, costs, and timelines for integration into vehicles. It finds that while over 50 companies are targeting the automotive market, industry consolidation is expected as only a limited number will succeed.
The document discusses trends related to the Internet of Things (IoT), including: 1) Most everyday objects are not currently connected to the internet; 2) Connecting objects will require standardization to overcome fragmentation from different connectivity protocols; 3) Connecting objects as platforms and providing seamless user experiences will be important for widespread adoption of the IoT. The document advocates developing lean platforms to connect objects and enable applications in a way that makes connectivity easy and valuable for users.
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2) A combination of sensors like LiDAR, radar, cameras, and GPS are needed for autonomous shuttle navigation, with LiDAR providing essential distance, angular resolution, and night visibility capabilities.
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The document is a final design proposal for an autonomous bomb disposal robot called MARTHA. It outlines specifications for the robot, which must locate and cut a wire connected to an object based on GPS coordinates while collecting soil and air samples. The robot must weigh less than 20 pounds, fit in a 2'x2'x2' container, cost under $200, and protect human lives by allowing bomb disposal from a safe distance. The engineering team developed MARTHA using an extensive design process to create an effective and affordable autonomous solution for bomb disposal.
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--- Abstract
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Towards Test-Driven Development for Mobile Robots
1. Towards Test-Driven Development
for Mobile Robots
Luc Fabresse, Jannik Laval and Noury Bouraqadi!
http://car.mines-douai.fr!
@SDIR - ICRA - May 2013!
2. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
2!
Outline!
1. Test-driven Development (TDD)!
2. TDD for Mobile Software Robotics!
3. BoTest!
4. Report on an Experiment!
5. Summary & Future Work!
3. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
3!
CAIRE Project!
• Coodinator: Luc Fabresse!
• Partners: INRIA Lille RMoD, IEMN Telice!
• 2012-2014!
• Nord-Pas de Calais Council funding (France)!
• Indoor Exploration and Mapping!
• Agile methodology for Robotic Software !
11. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
11!
Benefits of TDD!
• Requirements as executable units: Tests!
• Ensure Software compliance with Tests !
• Short development cycles!
• Detecting regressions!
• ...!
14. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
14!
Why TDD for "
Mobile Robotics Software!
Control!
Software!
Specifications /!
Requirements!
Tests!
for one
product line !
15. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
15!
Why TDD for "
Mobile Robotics Software!
Specifications /!
Requirements!
Tests!
for one
product line !
written once! • Quality
Assurance!
• Maintenance !
Control!
Software!
16. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
16!
Challenges of TDD "
for Mobile Software Robotics!
• Hardware in the loop!
• ``identical’’ hardware in production lines!
• Physical constraints!
• ...!
18. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
18!
A Tool for Robotics TDD!
• BoTest (http://car.mines-douai.fr/software/)!
• Implemented in as an extension of SUnit"
(http://www.pharo-project.org)!
• Helps to write tests for robots!
• Support expressing dependencies between tests!
• Run tests in a specific order!
35. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
35!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
36. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
36!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
37. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
37!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
1 run, 1 passes!
38. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
38!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
1 run, 1 passes! 1 run, 0 passes,!
1 requirementFailure!
39. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
39!
Running a Test!
the robot "
should move
straight 4m with
3% of error !
at most!
Specifications /!
Requirements!
testStraightLineMotion!
1 run, 1 passes! 1 run, 0 passes,!
1 requirementFailure!
45. http://car.mines-douai.fr
May 2013, @SDIR -
ICRA
45!
Future Work!
• Automatic test dependencies extraction!
• Improve tests automation !
• Continuous integration for non-interactive tests!
• Specialized development tools!
46. Towards Test-Driven Development
for Mobile Robots
Luc Fabresse, Jannik Laval and Noury Bouraqadi!
firstName.lastName@mines-douai.fr
@SDIR - ICRA - May 2013!
Looking for a 18 months PostDoc!
http://car.mines-douai.fr/2013/03/postdoc-position/!More infos:!
Keywords: Robotics Software,Agile development, Dynamic Languages, ... !
Starting: ~Sept 2013!