The document describes how to build an open hardware robot using Arduino, Raspberry Pi, and hot glue. It discusses the components needed, including a Raspberry Pi, Arduino microcontroller, sensors, motors and more. It also covers the software architecture using a multi-agent system approach with agents for movement, steering, collision avoidance and more, implemented using Ruby and the Celluloid and agens frameworks on the Raspberry Pi.

1. How to build
Open Hardware Robot
with Arduino, RaspberryPi and Hot Glue
Tomáš Jukin
@Inza

4. Tomáš Jukin
@Inza
www.juicymo.cz
@JuicymoCZ

12. #Probee

19. True evolution…

20. True evolution…
GDG ohwHack 2014 mDevCamp 2016

21. True evolution…
GDG ohwHack 2014 mDevCamp 2016

22. Robotics 101

23. Robotics 101
Micro-Computer
vs.
Micro-Controller

24. Robotics 101
Micro-Computer
vs.
Micro-Controller

25. Robotics 101
Micro-Computer
vs.
Micro-Controller

26. Robotics 101
Micro-Computer
vs.
Micro-Controller
Voltage: 3.3V
Flash: SD card
RAM: 512 MB (CPU & GPU)
CPU: ARM11 (BCM2835 SoC)
Clock: 700 MHz
GPIO: 40 pin
HDMI, Ethernet
RaspberryPi 1
B+
Arduino
UNO
Voltage: 5V
Flash: 32KB (-0.5 bootloader)
SRAM: 2KB
EEPROM: 1KB
Clock: 16 MHz
Digital I/O: 14/6 PWM
Analog In: 6

27. Robotics 101
ways of communication

28. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication

29. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
SPI

30. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
SPI
UART

31. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20m
RS-232 (COM port)
SPI
UART

32. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20m
RS-232 (COM port)
Industry, 2 wires, <32 devices, <1200m
RS-485 (EIA-485)
SPI
UART

33. Robotics 101
IIC (i2c, I2C, I2C)
Inter-Inter Circuit, 2 wires, <128 devices, <2m
ways of communication
Serial Peripheral Interface, N+3 wires, N devices
SPI
UART
Industry, 2 wires, <32 devices, <1200m
RS-485 (EIA-485)
Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m
Full Serial Line, 9 wires, 2 devices, <20m
RS-232 (COM port)

34. What does a
4 wheels self driving car robot
consist of?

51. 1x RaspberryPi 1 B+ Starter Set https://goo.gl/jaTY70
1x Chinese 4WD Car Kit with Funduino UNO http://goo.gl/qetuW5
5x Ultrasonic Sensor HC-SR04 http://goo.gl/YojTTp
1x Wi-Fi dongle D-Link DWA-127 https://goo.gl/9d9BPo
1x Arduino Micro https://goo.gl/yjVqgC
1x I2C Level Converter http://goo.gl/9i4jCK
1x RTC module DS1307 http://goo.gl/esKm7t
1x PIR sensor HC-SR501 http://goo.gl/LyYGmb
1x 4D Touch TFT Display 4DPi-35 Rev. 1 http://goo.gl/RWs7rI
1x Skewers
1x Hot Glue
*plus PiCamera and PowerBank to power Pi… (and cables)

52. http://goo.gl/tnXteh

53. The Idea

56. I2C

57. I2C
PWM

58. I2C
PWM12V

59. I2CUSB
PWM12V

60. I2C
SPI
USB
PWM12V

61. I2C
SPI
USB
PWM
PWM12V

62. I2C
SPI
USB
PWM
PWM12V

63. I2C
SPI
USB
PWM
PWM12V

64. I2C
SPI
USB
I2C
PWM
PWM12V

65. I2C
SPI
USB
I2C
PWM
PWM12V

66. I2C
SPI
USB
I2C
PWM
PWM12V

67. I2C
SPI
USB
I2C
PWM
PWM12V
I2C
PWM

68. I2C
5V USB 7V
5V3.3V

69. The Heart

70. The Heart

71. The Heart
Hardware

72. The Heart
Hardware
HAL

73. The Heart
Hardware
HAL
Events

74. The Heart
Hardware
HAL
Events
Pre-Emptive
Multi-Tasking

75. The Heart
Hardware
HAL
Events
Pre-Emptive
Multi-Tasking Config

76. How do we develop in
Arduino?

77. Wiring / Processing

78. C / C++

79. C / C++

80. C / C++

81. 5 Circles of Hell

82. 5 Circles of Hell
in Arduino

83. 5 Circles of Hell
in Arduino
.ino includes

84. 5 Circles of Hell
in Arduino
.ino includes
LCD_i2c.h

85. 5 Circles of Hell
in Arduino
.ino includes
LCD_i2c.h
Crappy China goods

86. 5 Circles of Hell
in Arduino
.ino includes
LCD_i2c.h
Crappy China goods
HW bugs

87. 5 Circles of Hell
in Arduino
.ino includes
LCD_i2c.h
Crappy China goods
HW bugs
The need of switch

88. The Heart

89. v0 - Procedural (by MacGyver on ohwHack)
The Heart

90. v0 - Procedural (by MacGyver on ohwHack)
The Heart
v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)

91. v0 - Procedural (by MacGyver on ohwHack)
The Heart
v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
v1 - “Spagetti MAS” (in Git repo)

92. v0 - Procedural (by MacGyver on ohwHack)
The Heart
v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
v1 - “Spagetti MAS” (in Git repo)
v2 - “The Platform” (in Git repo, in progress)

93. v0 - Procedural (by MacGyver on ohwHack)
The Heart
v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
v1 - “Spagetti MAS” (in Git repo)
v2 - “The Platform” (in Git repo, in progress)
https://github.com/Juicymo/probee

99. http://goo.gl/lZuAzn

102. https://goo.gl/OhNByp
I2C

103. https://goo.gl/QzYRjs
https://goo.gl/lG0ggl
I2C

104. The Brain

105. The Brain

106. How do we develop
for RaspberryPi?

107. In Ruby

108. But not only. It is a full
featured* Linux.

109. But not only. It is a full
featured* Linux.
*running on ARM… :-(

110. 5 Circles of Hell

111. 5 Circles of Hell
in RaspberryPi

112. 5 Circles of Hell
in RaspberryPi
USB driven computer

113. 5 Circles of Hell
in RaspberryPi
USB driven computer
Unstable

114. 5 Circles of Hell
in RaspberryPi
USB driven computer
Unstable
More features madness

115. 5 Circles of Hell
in RaspberryPi
USB driven computer
Unstable
More features madness
Wi-Fi dongle

116. 5 Circles of Hell
in RaspberryPi
USB driven computer
Unstable
More features madness
Unstable!!!
Wi-Fi dongle

117. Multi-Agent System
The Brain
build on a
Actor-based concurrent
object framework in Ruby
https://github.com/Juicymo/probee

118. The Brain
Raspbian

119. The Brain
Raspbian
rvm

120. The Brain
Raspbian
rvm
ruby

121. The Brain
Raspbian
rvm
ruby
celluloid

122. The Brain
Raspbian
rvm
ruby
celluloid
agens

123. The Brain
Raspbian
rvm
ruby
celluloid
agens
probee MAS

124. The Brain
Raspbian
rvm
ruby
celluloid
agens
probee MAS
https://github.com/Juicymo/probee
https://rubygems.org/gems/agens
https://github.com/celluloid/celluloid
https://rvm.io

125. The Brain
ObjectRuby OOP

126. The Brain
Object
Cell
Ruby OOP
Celluloid

127. The Brain
Object
Cell
Actor
Ruby OOP
Celluloid
Celluloid

128. The Brain
Object
Cell
Actor
Agent
Ruby OOP
Celluloid
Celluloid
agens

129. The Brain
Object
Cell
Actor
Agent
MovementAgent
Ruby OOP
Celluloid
Celluloid
agens
probee

130. The Brain
MovementAgent
Probee MAS

131. The Brain
Motors
MovementAgent
Probee MAS

132. The Brain
Motors
SteeringAgent
MovementAgent
Probee MAS

133. The Brain
Motors
SensorsSteeringAgent
MovementAgent
Probee MAS

134. The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS

135. The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS

136. The Brain
Motors
Sensors
CollisionAgent
SteeringAgent
MovementAgent
Probee MAS
Simple Agents can
perform complex tasks

137. The Brain

138. The Brain

139. How to make AI Logic
Scripting
HFSM Heuristics
MAS GA ANN
HTN

140. How to make AI Logic
Scripting
HFSM Heuristics
MAS GA ANN
HTN
?

141. HFSM
Movement FSM
Stop Drive Slowly Drive Fast

142. HFSM
Movement FSM
Stop Drive Slowly Drive Fast
Turn Turret FSM
Stop Scan Target

143. HFSM
Movement FSM
Stop Drive Slowly Drive Fast
Turn Turret FSM
Stop Scan Target
How to combine them??

144. HFSM
Movement FSM
Stop Drive Slowly Drive Fast
Turn Turret FSM
Stop Scan Target
How to combine them??
Modularity sucks too…

145. How to make AI Logic
Scripting
HFSM Heuristics
MAS GA ANN
HTN
?

146. How to make AI Logic
Scripting
HFSM Heuristics
MAS GA ANN
HTN
Behavior Trees

148. Behavior Trees
http://aigamedev.com/open/article/bt-overview/
http://behavior3js.guineashots.com/
http://aigamedev.com/open/article/behavior-trees-part1/

149. Neural Nets
HFSM
MAS
HTN
Behavior Trees
https://github.com/Inza/agens
https://en.wikipedia.org/wiki/Multi-agent_system
https://github.com/aasm/aasm
https://en.wikipedia.org/wiki/Finite-state_machine
https://github.com/Maumagnaguagno/HyperTensioN
https://en.wikipedia.org/wiki/Hierarchical_task_network
https://github.com/jvoegele/behavior_tree
https://en.wikipedia.org/wiki/Behavior_tree
https://github.com/SergioFierens/ai4r
https://en.wikipedia.org/wiki/Artificial_neural_network

150. Questions?

151. Tomáš Jukin
@Inza
www.juicymo.cz
@JuicymoCZ