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Noury	
  Bouraqadi,	
  Luc	
  Fabresse,	
  Jannik	
  Laval	
  
h"p://car.mines-­‐douai.fr	
  
Talking	
  to	
  
with	
  
Very
long-term
goal!
4	
  
	
  Current	
  Robots	
  
5	
  
Robots	
  at	
  our	
  lab	
  
6	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuator...
7	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuator...
8	
  
MulHple	
  Kinds	
  of	
  Robots	
  
9	
  
MulHple	
  Kinds	
  of	
  Robots	
  
Noury	
  Bouraqadi	
  –	
  JM2L	
  2010	
  
10	
  
MulHple	
  Kinds	
  of	
  Robots	
  
Heterogeneity	
  Challenge	
  
•  Different	
  sensors	
  &	
  actuators	
  
•  Different	
  shapes	
  &	
  sizes	
  	
  
• ...
Heterogeneity	
  Challenge	
  
12	
  
Different	
  low-­‐level	
  algorithms	
  
Different	
  Drivers	
  &	
  Protocols	
  
Heterogeneity	
  Challenge	
  
13	
  
Different	
  low-­‐level	
  algorithms	
  
ImplementaHons	
  
exist	
  
Different	
  D...
14	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
15	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
16	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
17	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
18	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
Robot	
  Guide	
  using	
  
19	
  
•  Museum	
  
•  Hospital	
  
•  Shopping	
  Mall	
  
•  …	
  
Robot	
  Guide	
  using	
  
20	
  
•  Museum	
  
•  Hospital	
  
•  Shopping	
  Mall	
  
•  …	
  
Laser	
  Scans	
  à	
  Map	
  
Annotated	
  Map	
  
Robot	
  Guide	
  using	
  
23	
  
Motor	
  Odometer	
   Motor	
  Odometer	
  Rangefinder	
  Rangefinder	
  Rangefinder	
  
P...
Robot	
  Guide	
  using	
  
24	
  
Path	
  	
  
Planner	
  
LocalizaHon	
  
System	
  
Motor	
  Odometer	
   Motor	
  Odom...
Robot	
  Guide	
  using	
  
25	
  
Path	
  	
  
Planner	
  
LocalizaHon	
  
System	
  
Motor	
  Odometer	
   Motor	
  Odom...
Talking	
  to	
  
with	
  
Talking	
  to	
  
with	
  
Talking	
  to	
  
with	
  
(Talk	
  Today)	
  
More	
  Challenges	
  
29	
  
More	
  Challenges	
  
30	
  
Changing	
  
CondiHons	
  
Resource	
  
Constraints	
  
(RAM,	
  CPU,	
  
Ba"ery...)	
  
Har...
More	
  Challenges	
  
31	
  
Self	
  
Adapta;on	
  
Changing	
  
CondiHons	
  
Resource	
  
Constraints	
  
(RAM,	
  CPU,...
More	
  Challenges	
  
32	
  
Smalltalk	
  
+	
  FPGA	
  
(Talk	
  Tomorrow)	
  
Resource	
  
Constraints	
  
(RAM,	
  CPU...
More	
  Challenges	
  
33	
  
TDD	
  
Hardware	
  
+	
  SoCware	
  
IntegraHon	
  
34	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
35	
  
Physical	
  Environment	
  
Robot	
  
Actuator	
  Actuator	
  
Computer	
  
Sensor	
  Sensor	
  
Sensor	
  
Actuato...
36	
  
Simula;on	
  
Safety	
  
37	
  
SimulaHon	
  
Noise	
  
Resources	
  
Failure	
  
Asynchrony	
  
Precision	
  
Methodology	
  for	
  Safe	
  TDD	
  
•  Ensure	
  emergency	
  stop	
  working!	
  
•  Order	
  tests	
  
– Sensors	
  be...
Methodology	
  for	
  Safe	
  TDD	
  
•  Ensure	
  emergency	
  stop	
  working!	
  
•  Order	
  tests	
  
– Sensors	
  be...
Methodology	
  for	
  Safe	
  TDD	
  
•  Ensure	
  emergency	
  stop	
  working!	
  
•  Order	
  tests	
  
– Sensors	
  be...
Methodology	
  for	
  Safe	
  TDD	
  
•  Ensure	
  emergency	
  stop	
  working!	
  
•  Order	
  tests	
  
– Sensors	
  be...
42	
  
the	
  	
  
Future	
  
is	
  
RoboHcs	
  
Let’s	
  	
  make	
  it	
  with	
  	
  
Smalltalk	
  
43	
  
10	
  000	
  000+	
  
Big	
  Players	
  Invest	
  in	
  RoboHcs	
  
•  Amazon	
  Drones	
  for	
  Parcel	
  Delivery	
  
44	
  
Big	
  Players	
  Invest	
  in	
  RoboHcs	
  
•  Google	
  Self-­‐Driving	
  Car	
  
	
  
45	
  
Big	
  Players	
  Invest	
  in	
  RoboHcs	
  
•  Google	
  Self-­‐Driving	
  Car	
  
	
  
46	
  
Google	
  Bought	
  8	
  ...
47	
  
the	
  	
  
Future	
  
is	
  
RoboHcs	
  
Let’s	
  	
  make	
  it	
  with	
  	
  
Smalltalk	
  
48	
  
the	
  	
  
Future	
  
is	
  
RoboHcs	
  
Let’s	
  	
  make	
  it	
  with	
  	
  
Smalltalk	
  
49	
  
Thank	
  you	
  !	
  
Noury	
  Bouraqadi,	
  Luc	
  Fabresse,	
  Jannik	
  Laval	
  
h"p://car.mines-­‐douai.fr	
  
Talking	
  to	
  
with	
  
Talking to Robots with Pharo
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Talking to Robots with Pharo

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In this presentation we will give an overview of we have been developing in Pharo for building robotics applications:
-PhaROS

Publié dans : Technologie
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Talking to Robots with Pharo

  1. 1. Noury  Bouraqadi,  Luc  Fabresse,  Jannik  Laval   h"p://car.mines-­‐douai.fr   Talking  to   with  
  2. 2. Very long-term goal!
  3. 3. 4    Current  Robots  
  4. 4. 5   Robots  at  our  lab  
  5. 5. 6   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware  
  6. 6. 7   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  
  7. 7. 8   MulHple  Kinds  of  Robots  
  8. 8. 9   MulHple  Kinds  of  Robots  
  9. 9. Noury  Bouraqadi  –  JM2L  2010   10   MulHple  Kinds  of  Robots  
  10. 10. Heterogeneity  Challenge   •  Different  sensors  &  actuators   •  Different  shapes  &  sizes     •  Different  compuHng  capabiliHes   11  
  11. 11. Heterogeneity  Challenge   12   Different  low-­‐level  algorithms   Different  Drivers  &  Protocols  
  12. 12. Heterogeneity  Challenge   13   Different  low-­‐level  algorithms   ImplementaHons   exist   Different  Drivers  &  Protocols  
  13. 13. 14   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  14. 14. 15   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python   ?        
  15. 15. 16   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Middleware   Algo   Algo   C,  C++   Python        
  16. 16. 17   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  17. 17. 18   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   Algo   Algo   C,  C++   Python        
  18. 18. Robot  Guide  using   19   •  Museum   •  Hospital   •  Shopping  Mall   •  …  
  19. 19. Robot  Guide  using   20   •  Museum   •  Hospital   •  Shopping  Mall   •  …  
  20. 20. Laser  Scans  à  Map  
  21. 21. Annotated  Map  
  22. 22. Robot  Guide  using   23   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware  
  23. 23. Robot  Guide  using   24   Path     Planner   LocalizaHon   System   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware  
  24. 24. Robot  Guide  using   25   Path     Planner   LocalizaHon   System   Motor  Odometer   Motor  Odometer  Rangefinder  Rangefinder  Rangefinder   Proprietary  SoCware   App   Bridge  
  25. 25. Talking  to   with  
  26. 26. Talking  to   with  
  27. 27. Talking  to   with   (Talk  Today)  
  28. 28. More  Challenges   29  
  29. 29. More  Challenges   30   Changing   CondiHons   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  30. 30. More  Challenges   31   Self   Adapta;on   Changing   CondiHons   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  31. 31. More  Challenges   32   Smalltalk   +  FPGA   (Talk  Tomorrow)   Resource   Constraints   (RAM,  CPU,   Ba"ery...)   Hardware   +  SoCware   IntegraHon  
  32. 32. More  Challenges   33   TDD   Hardware   +  SoCware   IntegraHon  
  33. 33. 34   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware  
  34. 34. 35   Physical  Environment   Robot   Actuator  Actuator   Computer   Sensor  Sensor   Sensor   Actuator  Actuator   Actuator   SoCware  SoCware  SoCware   Safety  
  35. 35. 36   Simula;on   Safety  
  36. 36. 37   SimulaHon   Noise   Resources   Failure   Asynchrony   Precision  
  37. 37. Methodology  for  Safe  TDD   •  Ensure  emergency  stop  working!   •  Order  tests   – Sensors  before  actuators   – Controlled  environments  before  open  ones   – StaHc  environments  before  dynamic  ones   •  Run  test  only  if  prerequisites  pass   38  
  38. 38. Methodology  for  Safe  TDD   •  Ensure  emergency  stop  working!   •  Order  tests   – Sensors  before  actuators   – Controlled  environments  before  open  ones   – StaHc  environments  before  dynamic  ones   •  Run  test  only  if  prerequisites  pass   39  
  39. 39. Methodology  for  Safe  TDD   •  Ensure  emergency  stop  working!   •  Order  tests   – Sensors  before  actuators   – Controlled  environments  before  open  ones   – StaHc  environments  before  dynamic  ones   •  Run  test  only  if  prerequisites  pass   40  
  40. 40. Methodology  for  Safe  TDD   •  Ensure  emergency  stop  working!   •  Order  tests   – Sensors  before  actuators   – Controlled  environments  before  open  ones   – StaHc  environments  before  dynamic  ones   •  Run  test  only  if  prerequisites  pass   41   BoTest   Framework  
  41. 41. 42   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  42. 42. 43   10  000  000+  
  43. 43. Big  Players  Invest  in  RoboHcs   •  Amazon  Drones  for  Parcel  Delivery   44  
  44. 44. Big  Players  Invest  in  RoboHcs   •  Google  Self-­‐Driving  Car     45  
  45. 45. Big  Players  Invest  in  RoboHcs   •  Google  Self-­‐Driving  Car     46   Google  Bought  8   RoboHcs  Companies  in   2013!  
  46. 46. 47   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  47. 47. 48   the     Future   is   RoboHcs   Let’s    make  it  with     Smalltalk  
  48. 48. 49   Thank  you  !  
  49. 49. Noury  Bouraqadi,  Luc  Fabresse,  Jannik  Laval   h"p://car.mines-­‐douai.fr   Talking  to   with  

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