CS 354 Project 1 Discussion

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Mark Kilgard

CS 354 Computer Graphics University of Texas, Austin February 16, 2012

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六足機器人的基本結構，基本上包含機器人本體結構、Raspberry Pi 控制核心、馬達驅動板、電力系統。首先，針對機器人本體結構，每一足將有3顆伺服馬達，故六足共有18顆伺服馬達使六足機器人可以達到所有可能的走行模式。馬達驅動板的部份，我們以2個PCA9685模組(I2C界面具16通道PWM輸出)來進行18顆伺服馬達的控制。在電力系統的部份，由於六足機器人在所有的伺服馬達同時動作時，消耗約4A電流，故我們串聯了3顆18650電池，以提供12.6v電壓及最大電流輸出6A作為主要的電力來源。系統中再以LM2596及LM1117進行不同的DC-DC轉換，以提供系統其他部件所需的5V及3.3V 工作電壓。另外，馬達驅動電源部份，使用了XL4015恆壓模組，使伺服馬達具備穏定電壓源而能夠更穏定靈活轉動。最後，Raspberry Pi控制核心主要為軟體設計的部份，我們完成了一個低階的PWM馬達驅動程式與一個高階並行控制運動演算法，使六足機器人能進行基本的直線、橫移與旋轉等運動行為。為使六足機器人更具智慧，我們加入了超音波感測器以進行障礙物偵側、也加入USB Webcam 使六足機器人具備即時影像串流的能力並且再其底部加入一顆伺服馬達使Webcam鏡頭能左右轉向。另外，也加入PIR人體感測器，一旦偵測到人時, Webcam會立即拍下畫面，並傳送照片檔到雲端相簿。最後，我們設計一個 Android APP並以Wi-Fi通訊方式來控制六足機器運動控制、其中即時影像串流的能力以Android Webview來實現，而手機對雲端相簿的存取則Android volley來完成。

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SIGGRAPH 2015 paper. We describe our successful initiative to accelerate Adobe Illustrator with the graphics hardware pipeline of modern GPUs. Relying on OpenGL 4.4 plus recent OpenGL extensions for advanced blend modes and first-class GPU-accelerated path rendering, we accelerate the Adobe Graphics Model (AGM) layer responsible for rendering sophisticated Illustrator scenes. Illustrator documents render in either an RGB or CMYK color mode. While GPUs are designed and optimized for RGB rendering, we orchestrate OpenGL rendering of vector content in the proper CMYK color space and accommodate the 5+ color components required. We support both non-isolated and isolated transparency groups, knockout, patterns, and arbitrary path clipping. We harness GPU tessellation to shade paths smoothly with gradient meshes. We do all this and render complex Illustrator scenes 2 to 6x faster than CPU rendering at Full HD resolutions; and 5 to 16x faster at Ultra HD resolutions.

Accelerating Vector Graphics Rendering using the Graphics Hardware Pipeline

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NV_path_rendering is an OpenGL extension for GPU-accelerated path rendering. Recent functionality improvements provide better performance, better typography, rounded rectangles, conics, and OpenGL ES support. This functionality is available today with NVIDIA's 337.88 drivers. The latest NV_path_rendering specification documents these new functional improvements: https://www.opengl.org/registry/specs/NV/path_rendering.txt You can find sample code here: https://github.com/markkilgard/NVprSDK

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Presented at SIGGRAPH Asia 2012 in Singapore on Friday, 30 November 14:15 - 16:00 during the "Points and Vectors" session. Find the paper at http://developer.nvidia.com/game/gpu-accelerated-path-rendering or on Slideshare. For thirty years, resolution-independent 2D standards (e.g. PostScript, SVG) have relied largely on CPU-based algorithms for the filling and stroking of paths. Learn about our approach to accelerate path rendering with our GPU-based "Stencil, then Cover" programming interface. We've built and productized our OpenGL-based system.

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Location: Conference Hall K, Singapore EXPO Date: Thursday, November 29, 2012 Time: 11:00 AM - 11:50 PM Presenter: Mark Kilgard (Principal Software Engineer, NVIDIA, Austin, Texas) Abstract: Attend this session to get the most out of OpenGL on NVIDIA Quadro and GeForce GPUs. Learn about the new features in OpenGL 4.3, particularly Compute Shaders. Other topics include bindless graphics; Linux improvements; and how to best use the modern OpenGL graphics pipeline. Learn how your application can benefit from NVIDIA's leadership driving OpenGL as a cross-platform, open industry standard. Topic Areas: Computer Graphics; Development Tools & Libraries; Visualization; Image and Video Processing Level: Intermediate

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Preprint for SIGGRAPH Asia 2012 Copyright ACM, 2012 For thirty years, resolution-independent 2D standards (e.g. PostScript, SVG) have depended on CPU-based algorithms for the filling and stroking of paths. However advances in graphics hardware have largely ignored the problem of accelerating resolution-independent 2D graphics rendered from paths. Our work builds on prior work to re-factor the path rendering task to leverage existing capabilities of modern pipelined and massively parallel GPUs. We introduce a two-step “Stencil, then Cover” (StC) paradigm that explicitly decouples path rendering into one GPU step to determine a path’s filled or stenciled coverage and a second step to rasterize conservative geometry intended to test and reset the coverage determinations of the first step while shading color samples within the path. Our goals are completeness, correctness, quality, and performance—but we go further to unify path rendering with OpenGL’s established 3D rendering pipeline. We have built and productized our approach to accelerate path rendering as an OpenGL extension.

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Video replay: http://nvidia.fullviewmedia.com/siggraph2012/ondemand/SS106.html Location: West Hall Meeting Room 503, Los Angeles Convention Center Date: Wednesday, August 8, 2012 Time: 2:40 PM – 3:40 PM The future of GPU-based visual computing integrates the web, resolution-independent 2D graphics, and 3D to maximize interactivity and quality while minimizing consumed power. See what NVIDIA is doing today to accelerate resolution-independent 2D graphics for web content. This presentation explains NVIDIA's unique "stencil, then cover" approach to accelerating path rendering with OpenGL and demonstrates the wide variety of web content that can be accelerated with this approach. More information: http://developer.nvidia.com/nv-path-rendering

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Video replay: http://nvidia.fullviewmedia.com/siggraph2012/ondemand/SS104.html Date: Wednesday, August 8, 2012 Time: 11:50 AM - 12:50 PM Location: SIGGRAPH 2012, Los Angeles Attend this session to get the most out of OpenGL on NVIDIA Quadro and GeForce GPUs. Learn about the new features in OpenGL 4.3, particularly Compute Shaders. Other topics include bindless graphics; Linux improvements; and how to best use the modern OpenGL graphics pipeline. Learn how your application can benefit from NVIDIA's leadership driving OpenGL as a cross-platform, open industry standard. Get OpenGL 4.3 beta drivers for NVIDIA GPUs from http://www.nvidia.com/content/devzone/opengl-driver-4.3.html

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Presented at the GPU Technology Conference 2012 in San Jose, California. Tuesday, May 15, 2012. Standards such as Scalable Vector Graphics (SVG), PostScript, TrueType outline fonts, and immersive web content such as Flash depend on a resolution-independent 2D rendering paradigm that GPUs have not traditionally accelerated. This tutorial explains a new opportunity to greatly accelerate vector graphics, path rendering, and immersive web standards using the GPU. By attending, you will learn how to write OpenGL applications that accelerate the full range of path rendering functionality. Not only will you learn how to render sophisticated 2D graphics with OpenGL, you will learn to mix such resolution-independent 2D rendering with 3D rendering and do so at dynamic, real-time rates.

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Presented at the GPU Technology Conference 2012 in San Jose, California. Monday, May 14, 2012. Attend this session to get the most out of OpenGL on NVIDIA Quadro and GeForce GPUs. Topics covered include the latest advances available for Cg 3.1, the OpenGL Shading Language (GLSL); programmable tessellation; improved support for Direct3D conventions; integration with Direct3D and CUDA resources; bindless graphics; and more. When you utilize the latest OpenGL innovations from NVIDIA in your graphics applications, you benefit from NVIDIA's leadership driving OpenGL as a cross-platform, open industry standard.

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