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Mobile LabRob A short introduction Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico.

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Presentation on theme: "Mobile LabRob A short introduction Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico."— Presentation transcript:

1 Mobile LabRob A short introduction Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico di Torino

2 01CFIDV - Robotica - 11 Marzo Overview Why mobility? Applications Approaches Solutions LabRob activity

3 01CFIDV - Robotica - 11 Marzo Why mobility? Increased number of degrees of freedom challenging tasks that require displacement abilities. Autonomy Human- (animal-) like behaviors Helpers or substitutes for stressing/dangerous tasks

4 01CFIDV - Robotica - 11 Marzo Applications fields - 1 Hospitals/Airports/Ho me (Semi)Autonomous wheel-chairs Assistants Vacuum cleaners Toys Requirements Robustness User friendly human- machine interface Environment sensing

5 01CFIDV - Robotica - 11 Marzo Applications fields - 2 Military Mine finder Flying sentinels Soldiers (????) Requirements SLAM Team paradigm Communication Reliable sensory systems and fusion Reliable hardware Real-time software

6 01CFIDV - Robotica - 11 Marzo Applications fields - 3 Scientific/industrial explorations Pyramid project Pipelines Underwater Space Requirements Scalability Adaptativity Reliable sensing SLAM Remote controller systems

7 01CFIDV - Robotica - 11 Marzo Application fields - 4 Bio-inspired Insects (the great part) Flies Ants Spiders Bugs Fish Requirements Microtechnologies Low-level coding Swarm paradigm Redundancy strategies Cooperation/communica tion Natural behaviors NN controllers Artificial intelligence Coherence with reality

8 01CFIDV - Robotica - 11 Marzo Application fields ROBOT SOCCER World wide robotic research promotion Requirements Synchrony Communication High sensing skills

9 01CFIDV - Robotica - 11 Marzo Approach BehaviorsInteractionsEnvironment Robot structure Modelling Simulations Real world Real robot programming Result validation

10 01CFIDV - Robotica - 11 Marzo Model based VS behavioral based controller design Model based Dynamic continuous/discreet equations Accurate mathematical model Predictions and equilibria Behavior based Events and interaction rules High dimension and noisy system Blocks description Mathematics hidden in high-level structures

11 01CFIDV - Robotica - 11 Marzo Approach BehaviorsInteractionsEnvironment Robot structure Modelling Simulations Real world Real robot programming Result validation

12 01CFIDV - Robotica - 11 Marzo Solutions from simulated to real world by hand coding No share of resources between simulation software and hardware Automatic coding Fast prototyping techniques Hardware in the loop Hybrid Custom code embedding

13 01CFIDV - Robotica - 11 Marzo LabRob activity -1- RESEARCH Fast prototyping using Simulink and the Real Time Workshop Design of real-time embedded controllers Code porting on unsupported/custom architectures Model based VS behavioral based controllers analysis and comparison (e.g. Simulink VS Stateflow) Sensor fusion env. Mapping (SLAM) InfraRed sensors (short distances < 4 m ) Sonar sensors (long distances < 3 m) Video cameras

14 01CFIDV - Robotica - 11 Marzo LabRob activity -2- RESEARCH Algorithms of features extraction from acquired images (colors, shapes, distances) Evolution/dynamics of communication emergence among simulated agents Signal grounding Communication means Audio waves Radio waves (which one?) Light Web learning and remote robot controller Java (or equivalent) web interface Radio communication host-robot link Drive-by-cameras

15 01CFIDV - Robotica - 11 Marzo x Khepera robot base (MC68331) with sonars and radio turrets 1 x PAL Color camera 1 x SoccerBot (MC68331) with sonars, color camera, radio system, kicker and LCD display. 4 x Devantech sonars LabRob Activity -3- AVAILABLE HARDWARE

16 01CFIDV - Robotica - 11 Marzo MATLAB Simulink Stateflow Real Time WorkShop RTOS VxWorks Qnx RTAI Robots embedded operating systems. Webots (Khepera and family robot simulator) LabRob Activity -3- AVAILABLE SOFTWARE

17 01CFIDV - Robotica - 11 Marzo Useful links shop/Ultrasonic_Rangers1999.htm

18 01CFIDV - Robotica - 11 Marzo ?? QUESTIONS ??

19 01CFIDV - Robotica - 11 Marzo Coming next… LADISPE di AUTOMATICA 10:30-12:3012:30-14:30 LUN 14/03 BONFITTO, CARDELLINO, CAVALERA, CERUTTI, CHIONO, COCONDI, CORATELLA, CORSIATTO, DANNA, DE GIUSEPPE DEDOLA, DEIRO,FAVOT, FELE, FICILI, FILIPE, FRASSY, GRASSINO, IMPINNA, KAOUK MER 16/03 LAFFRANCHI, MATTIO, PAOLELLA, PEIRANO, PONSETTI, PRIMAVERA, SAGLIA, SARRACINO, SEVERINO, ZANCANER, PEREZ, HUI KIT


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