Presentation

Report
IMPROVED VALIDATION & TESTING
OF REMOTE ROBOTICS SYSTEMS BY
INTEGRATING SIMULATION &
GRAPHICAL USER INTERFACE
CUSTOMISATION
Ian Matthews
Aerospace, Space & Defense Segment
National Instruments Europe
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Introduction
Developer
Simulated
Robotics
Simulated
Environment
Trial Operator
Prototype
Robotics
Trial
Environment
Remote
Operator
Robotic
System
Operating
Environment
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2
Linking Design and Test
Design Verification
Research/Modeling
System
Modeling
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Product Verification
Design/Simulation
Verification/Validation
“Hardware in the Loop”
to improve simulations
Prototype
3
Deployment
Test
Graphical System Design
Design
Interactive Algorithm Design
• Control design
• Dynamic system simulation
• Digital filter design
• Advanced mathematics
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Prototype
Tight I/O Integration
• I/O modules and drivers
• COTS FPGA hardware
• VHDL and C code integration
• Design validation tools
4
Deploy
Deployable Targets
• Rugged deployment platforms
• Distributed networking
• Human-machine interfaces
• Custom designs
Graphical System Design
Practical Deployment
Test
Desktops and
PC-Based DAQ
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Monitor
Embedded
PXI and Modular
Instruments
Control
RIO and Custom
Designs
5
Cyber Physical
Open Connectivity
with 3rd Party I/O
Applying GSD to Robotics
Simulated
Robotics
Simulated
Environment
Prototype
Robotics
Trial
Environment
Robotic
System
Operating
Environment
Developer
Remote
Operator
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6
Simulation Interface and Visualisation
SIT Connection Manager
LabVIEW Controls
& Indicators
Model Parameters
& Signals
Simulink® is a registered trademark of The MathWorks, Inc. All
other trademarks are the property of their respective
owners.
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7
Hardware Abstraction
Human Machine
Interfaces
3D Visualisation
Abstraction Engine
Simulation Models
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Communications to
remote systems
8
Direct I/O Links
Simulated Robotics
Software
Simulated Sensor
Driver
Real-time Robotics Software
Simulated Actuator
Hardware
Driver
Real-time Sensor
Abstracted
Driver
I/O Layer
Software
Real-time Actuator
Driver
Software
Simulator
Hardware
FPGA
Simulated Sensor
Model
Simulated Actuator
Model
Real-time
Robotics Sensor
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9
Robotics Actuator
Abstraction of Computation & Hardware
Dataflow
C / HDL Code
LabVIEW
Textual Math
LabVIEW
Simulation
Statechart
LabVIEW
LabVIEW
FPGA
MPU/MCU
``
Desktop
Personal Computers
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Real-Time
PXI Systems
CompactRIO
10
Single-Board RIO
Custom Design
LabVIEW Robotics Module Visualisation
• Physics-based environment simulator
• Based on the Open Dynamics Engine (ODE)
• Easy to switch between simulated IO and real
world IO
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11
Ocean Rings
Virtual Underwater Lab for Ocean Systems Modelling and
Simulation
OceanRINGS
Disturbances
Disturbances
•Real waves
•Real ocean currents
•Virtual waves
•Virtual ocean currents
System Core
Simulation Tools
Virtual Environment
•Virtual structures
•Virtual ROVs
•Virtual support vessels
Real-World Environment
Modelling Tools
Control Tools
Visualisation Tools
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12
•Real structures
•Real ROVs
•Real support vessels
Ocean Rings Real ROV linked to Simulation
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13
OceanRings prototyping to deployment
Operator
Simulation View
Simulation Environment
Control Signals
Adaptive
Control
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14
UUV
Off the shelf hardware for prototyping
System Flexibility and Price
I/O
I/O
PXI
RIO
I/O
Processo
r
FPG
A
Custom I/O
PCI RIO
CompactRIO
CompactRIO
Integrated
Size of Systems
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15
Single-Board
RIO
Conclusions
Design on the Desktop
TRL : 0 - 3
Prototype on COTS Hardware
TRL : 3 - 5
Deploy on Custom Hardware
TRL : 6 - 9
Operator User
Interface
Communication to
Remote System
Robotic System
3D Visualisation of
Environment
Simulation Models
Operating
Environment
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16
Questions?
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