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Small Talk with Robots

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This presentation is about using Pharo for controlling robots. We detailed our work on software engineering for robotics. These slides were presented at FAST smalltalks 2014, Cordoba, Argentina

Publicado en: Software
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Small Talk with Robots

  1. 1. Noury Bouraqadi, Luc Fabresse, Jannik Laval 1
  2. 2. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 2
  3. 3. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 3
  4. 4. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 3 pomodorotechnique.com
  5. 5. Small Talk with Robots Noury Bouraqadi, Luc Fabresse, Jannik Laval http://car.mines-douai.fr
  6. 6. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 5
  7. 7. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 6
  8. 8. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 6 Very long-term goal !
  9. 9. Noury Bouraqadi, Luc Fabresse, Jannik Laval Current robots 7
  10. 10. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot at our lab 8
  11. 11. Noury Bouraqadi, Luc Fabresse, Jannik Laval Infrastructure 9 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) So9ware)So9ware)So9ware)
  12. 12. Noury Bouraqadi, Luc Fabresse, Jannik Laval Infrastructure 10 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) So9ware)So9ware)
  13. 13. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 11
  14. 14. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 12
  15. 15. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 13
  16. 16. Noury Bouraqadi, Luc Fabresse, Jannik Laval Heterogeneity challenge 14
  17. 17. Noury Bouraqadi, Luc Fabresse, Jannik Laval Heterogeneity challenge 14 Different sensors and actuators
  18. 18. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators
  19. 19. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators
  20. 20. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators Different low-level algorithms
  21. 21. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators Different shapes and sizes Different low-level algorithms
  22. 22. Noury Bouraqadi, Luc Fabresse, Jannik Laval 15 implementations exist
  23. 23. Noury Bouraqadi, Luc Fabresse, Jannik Laval 16 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,#C++# Python# ) ) )
  24. 24. Noury Bouraqadi, Luc Fabresse, Jannik Laval 17 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ?" ) ) )
  25. 25. Noury Bouraqadi, Luc Fabresse, Jannik Laval 18 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Middleware) Algo) Algo) C,)C++) Python) ) ) )
  26. 26. Noury Bouraqadi, Luc Fabresse, Jannik Laval 19 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ) ) )
  27. 27. Noury Bouraqadi, Luc Fabresse, Jannik Laval Our work is PhaROS 20 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ) ) )
  28. 28. (small) talking to Robots
  29. 29. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 22 - Museum - Hospital - Shopping Mall - …
  30. 30. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 23 https://vimeo.com/109125625
  31. 31. Noury Bouraqadi, Luc Fabresse, Jannik Laval Laser scans > Map 24
  32. 32. Noury Bouraqadi, Luc Fabresse, Jannik Laval Annotated map 25
  33. 33. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 26 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware%
  34. 34. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 27 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware% Path%% Planner% Localiza/on% System%
  35. 35. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 28 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware% Path%% Planner% Localiza/on% System% App# Bridge#
  36. 36. Noury Bouraqadi, Luc Fabresse, Jannik Laval 29 Talking(to( with%
  37. 37. Noury Bouraqadi, Luc Fabresse, Jannik Laval 30 Talking(to( with%
  38. 38. Noury Bouraqadi, Luc Fabresse, Jannik Laval 31 Talking(to( with%
  39. 39. visual programing for robotics
  40. 40. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 33
  41. 41. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo https://code.google.com/p/scat/
  42. 42. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo https://code.google.com/p/scat/
  43. 43. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo phratch.com sponsored by https://code.google.com/p/scat/
  44. 44. Noury Bouraqadi, Luc Fabresse, Jannik Laval What is new ? 35 phratch.com Jetstorm - robotics Jenkins smart icons
  45. 45. Noury Bouraqadi, Luc Fabresse, Jannik Laval Add-ons 36
  46. 46. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 37
  47. 47. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 38
  48. 48. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 39
  49. 49. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 39
  50. 50. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 40
  51. 51. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 41
  52. 52. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 42
  53. 53. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 43
  54. 54. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 44
  55. 55. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 44
  56. 56. Noury Bouraqadi, Luc Fabresse, Jannik Laval Used for teaching robotics! 45 https://vimeo.com/103126982
  57. 57. More challenges
  58. 58. Noury Bouraqadi, Luc Fabresse, Jannik Laval 47
  59. 59. Noury Bouraqadi, Luc Fabresse, Jannik Laval 48 Resource( Constraints( (RAM,(CPU,( Ba5ery...)( Changing' Condi*ons' Hardware' +'So+ware' Integra0on'
  60. 60. Noury Bouraqadi, Luc Fabresse, Jannik Laval 49 Resource( Constraints( (RAM,(CPU,( Ba5ery...)( Hardware' +'So+ware' Integra0on' Self% Adapta+on% Changing' Condi*ons'
  61. 61. Noury Bouraqadi, Luc Fabresse, Jannik Laval 50 Hardware' +'So+ware' Integra0on' Self% Adapta+on% Changing' Condi*ons' Smalltalk' +'FPGA' Resource( Constraints( (RAM,(CPU,( Ba5ery...)(
  62. 62. Noury Bouraqadi, Luc Fabresse, Jannik Laval 51 •Build a Pharo robotic application •Identify critical parts •Project the critical parts on FPGA •Evaluation of performance gain/loss EXPERIMENT
  63. 63. Noury Bouraqadi, Luc Fabresse, Jannik Laval 52 http://www.youtube.com/watch?v=e1Hzt4soQIc
  64. 64. Noury Bouraqadi, Luc Fabresse, Jannik Laval 53 Camera RGB →HSV HSV filtrer Laser sensor Object detector Motors
  65. 65. Noury Bouraqadi, Luc Fabresse, Jannik Laval 54 Camera RGB →HSV HSV filtrer Laser sensor Object detector Critical part ! Motors
  66. 66. Noury Bouraqadi, Luc Fabresse, Jannik Laval 55 Smalltalk application HW/SW Partitioning SW HW PharoVM FPGA Interface
  67. 67. Noury Bouraqadi, Luc Fabresse, Jannik Laval 56 Self% Adapta+on% Changing' Condi*ons' Smalltalk' +'FPGA' Resource( Constraints( (RAM,(CPU,( Ba5ery...)( TDD# Hardware' +'So+ware' Integra0on'
  68. 68. Noury Bouraqadi, Luc Fabresse, Jannik Laval 57 Physical)Environment) Robot% Actuator%Actuator% Computer% Sensor%Sensor% Sensor% Actuator%Actuator% Actuator% So2ware%So2ware%So2ware%
  69. 69. Noury Bouraqadi, Luc Fabresse, Jannik Laval 58 Physical)Environment) Robot% Actuator%Actuator% Computer% Sensor%Sensor% Sensor% Actuator%Actuator% Actuator% So2ware%So2ware%So2ware% Safety)
  70. 70. Noury Bouraqadi, Luc Fabresse, Jannik Laval 59 Simula'on* Safety*
  71. 71. Noury Bouraqadi, Luc Fabresse, Jannik Laval 60 http://www.youtube.com/watch?v=oNrvuaASwrU
  72. 72. Noury Bouraqadi, Luc Fabresse, Jannik Laval 61 37# Simula*on# Noise# Resources# Failure# Asynchrony# Precision#
  73. 73. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 62 Ensure emergency stop working!
  74. 74. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 63 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones
  75. 75. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 64 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones Run test only if prerequisites pass
  76. 76. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 65 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones Run test only if prerequisites pass BoTest' Framework'
  77. 77. Noury Bouraqadi, Luc Fabresse, Jannik Laval 66 the$
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  78. 78. Noury Bouraqadi, Luc Fabresse, Jannik Laval 67 10#000#000+#
  79. 79. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 68 Amazon drones for Parcel Delivery
  80. 80. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 69 Google self-driving car
  81. 81. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 70 Google self-driving car Google&Bought&8& Robo.cs&Companies&in& 2013!&
  82. 82. Noury Bouraqadi, Luc Fabresse, Jannik Laval 71 the$
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  83. 83. Noury Bouraqadi, Luc Fabresse, Jannik Laval 72 the$
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  84. 84. Noury Bouraqadi, Luc Fabresse, Jannik Laval 72 the$
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  85. 85. Douai loves Argentina !
  86. 86. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
  87. 87. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
  88. 88. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
  89. 89. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74 Douai
  90. 90. Small Talk with Robots Noury Bouraqadi, Luc Fabresse, Jannik Laval http://car.mines-douai.fr

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