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