這是在2009 NI Professor Days 所發表的講題

1. 利用 LabVIEW進行整合式機器人系統概念教學 吳維翰 / John

2. About Me 學歷: 美國麻省 Tufts University 機械工程系學士、碩士 (2002, 2004) 畢業論文: The Development of Well-Defined 3D Biomaterial Scaffolds for Cellular Growth Studies Using a Micromolding Approach 經歷: 美商國家儀器 應用工程師 美商國家儀器 教育訓練課程 講師 美商國家儀器 行銷工程師 美商國家儀器 新竹縣業務工程師 台灣區機器人競賽 WRO，FLL 技術裁判 現職: 美商國家儀器 行銷部技術經理 吳維翰 / John 行動電話: 0910-611-802 電子郵件: wei-han.wu@ni.com

3. Robotics Engineering Integration of many curriculums Mechanical, electrical, computer engineering Worldwide robotics market is big! Challenge: depth and breadth

4. Pain points from educators Cannot teach “system design” in short time Isolation of different fields Cannot deploy to embedded hardware No defined curriculum

5. What can we deliver? C Code Dataflow Textual Math Simulation Statechart System-leveltools for design Integrated platform Direct deploy to embedded systems

6. What can we deliver? System-leveltools for design Integrated platform Direct deploy to embedded systems FPGA LabVIEW Desktop Microprocessors Real-Time

7. What can we deliver? PXI Systems System-level tools for design Integrated platform Direct deploy to embedded systems Custom Design Personal Computers CompactRIO SB RIO

8. A robot simplified…

9. In reality… Really messy Lots of stuff to integrate And you don’t even know if it works Need to simply the problem Levels of abstraction Don’t get lost in the “details”

10. The graphical approach

11. The graphical approach Vision Ultrasonic Microphone GPS LIDAR Object Tracking Avoidance SLAM Navigation PID PWM Closed-loop control Fuzzy Control Adaptive Control

12. Example: LEGO NXT Vision Tracking

13. The graphical approach Acquire Image Analyze Position PID Control

14. The graphical approach (con’t) Multi-rate loops Watchdog Timer Sensor #1 Fuzzy Control Σ Sensor #2 Sensor Fusion Algorithm Sensor #3 PID Control Inverse Kinematics

15. Holonomic Robot Case Study

16. Case study: holonomic robot Rotation matrix calculation Simultaneous PID for 4 motors Laser rangefinder for obstacle avoidance Navigation planning Wireless communicationand HMI In order to do this, you MUST look at the entire system

17. Acquiring Hokuyo Sensor data PID closed-loop control, 4 motors Rotation Matrix Calculation Obstacle Avoidance Wireless control, USB joystick interface (PC)

18. NTU example 羅仁權 博士 國立台灣大學電機工程學系教授 台灣機器人學會理事長

19. The Challenge Robots start at “Start Point” Navigate to Waypoint 1. Wait for 5 seconds. Navigate to Waypoint 2. Wait for 5 seconds. Navigate back to “Start Point” Penalties: Touch cone Touch wall Reset robot

20. NTU movie

21. Results 13 student surveys 此實習課程有沒有讓您對機器人技術系統整合更加了解? 13 responded yes Other feedback: 易上手，programming easy 將所有部份整合一起時，資源安排和流程分配需要多加考慮

22. Conclusion Cannot Can teach “system design” in short time Isolation Integration of different fields Cannot Can deploy to embedded hardware

23. Coming soon: LabVIEW Robotics 2009

24. FIRST Robotics Competition Selects National Instruments CompactRIO for Next-Generation Robot Control System Over 50,000 High School Students to use cRIO, powered by NI LabVIEW