Small Talk with Robots Using Pharo and Phratch
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The document discusses research on robotics and software engineering for robotics. It describes challenges with robot heterogeneity, including different sensors, actuators, computing capabilities, drivers and protocols. It presents PhaROS as a middleware to address these challenges. It discusses using robots as guides and visual programming with Phratch. The document also covers more challenges like resource constraints, hardware/software integration, self-adaptation and safety; and proposes methodology for safe test-driven development. In conclusion, it mentions increasing investments in robotics by big companies and argues for using Smalltalk to build the robotics future.
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Small Talk with Robots Using Pharo and Phratch
- 1. Noury Bouraqadi, Luc Fabresse, Jannik Laval 1
- 2. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 2
- 3. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 3
- 4. Noury Bouraqadi, Luc Fabresse, Jannik Laval Pomodoro 3 pomodorotechnique.com
- 5. Small Talk with Robots Noury Bouraqadi, Luc Fabresse, Jannik Laval http://car.mines-douai.fr
- 6. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 5
- 7. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 6
- 8. Noury Bouraqadi, Luc Fabresse, Jannik Laval Research on Software Engineering for 6 Very long-term goal !
- 9. Noury Bouraqadi, Luc Fabresse, Jannik Laval Current robots 7
- 10. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot at our lab 8
- 11. Noury Bouraqadi, Luc Fabresse, Jannik Laval Infrastructure 9 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) So9ware)So9ware)So9ware)
- 12. Noury Bouraqadi, Luc Fabresse, Jannik Laval Infrastructure 10 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) So9ware)So9ware)
- 13. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 11
- 14. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 12
- 15. Noury Bouraqadi, Luc Fabresse, Jannik Laval Multiple kinds of robots 13
- 16. Noury Bouraqadi, Luc Fabresse, Jannik Laval Heterogeneity challenge 14
- 17. Noury Bouraqadi, Luc Fabresse, Jannik Laval Heterogeneity challenge 14 Different sensors and actuators
- 18. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators
- 19. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators
- 20. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators Different low-level algorithms
- 21. Noury Bouraqadi, Luc Fabresse, Jannik Laval Different drivers and protocols Different computing capabilities Heterogeneity challenge 14 Different sensors and actuators Different shapes and sizes Different low-level algorithms
- 22. Noury Bouraqadi, Luc Fabresse, Jannik Laval 15 implementations exist
- 23. Noury Bouraqadi, Luc Fabresse, Jannik Laval 16 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,#C++# Python# ) ) )
- 24. Noury Bouraqadi, Luc Fabresse, Jannik Laval 17 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ?" ) ) )
- 25. Noury Bouraqadi, Luc Fabresse, Jannik Laval 18 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Middleware) Algo) Algo) C,)C++) Python) ) ) )
- 26. Noury Bouraqadi, Luc Fabresse, Jannik Laval 19 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ) ) )
- 27. Noury Bouraqadi, Luc Fabresse, Jannik Laval Our work is PhaROS 20 Physical)Environment) Robot) Actuator)Actuator) Computer) Sensor)Sensor) Sensor) Actuator)Actuator) Actuator) Algo) Algo) C,)C++) Python) ) ) )
- 28. (small) talking to Robots
- 29. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 22 - Museum - Hospital - Shopping Mall - …
- 30. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 23 https://vimeo.com/109125625
- 31. Noury Bouraqadi, Luc Fabresse, Jannik Laval Laser scans > Map 24
- 32. Noury Bouraqadi, Luc Fabresse, Jannik Laval Annotated map 25
- 33. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 26 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware%
- 34. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 27 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware% Path%% Planner% Localiza/on% System%
- 35. Noury Bouraqadi, Luc Fabresse, Jannik Laval Robot guide using 28 Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder% Proprietary%So4ware% Path%% Planner% Localiza/on% System% App# Bridge#
- 36. Noury Bouraqadi, Luc Fabresse, Jannik Laval 29 Talking(to( with%
- 37. Noury Bouraqadi, Luc Fabresse, Jannik Laval 30 Talking(to( with%
- 38. Noury Bouraqadi, Luc Fabresse, Jannik Laval 31 Talking(to( with%
- 39. visual programing for robotics
- 40. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 33
- 41. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo https://code.google.com/p/scat/
- 42. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo https://code.google.com/p/scat/
- 43. Noury Bouraqadi, Luc Fabresse, Jannik Laval You know phratch ! 34 on top of Pharo phratch.com sponsored by https://code.google.com/p/scat/
- 44. Noury Bouraqadi, Luc Fabresse, Jannik Laval What is new ? 35 phratch.com Jetstorm - robotics Jenkins smart icons
- 45. Noury Bouraqadi, Luc Fabresse, Jannik Laval Add-ons 36
- 46. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 37
- 47. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 38
- 48. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 39
- 49. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 39
- 50. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 40
- 51. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 41
- 52. Noury Bouraqadi, Luc Fabresse, Jannik Laval Code accessibility 42
- 53. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 43
- 54. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 44
- 55. Noury Bouraqadi, Luc Fabresse, Jannik Laval High extensibility ! 44
- 56. Noury Bouraqadi, Luc Fabresse, Jannik Laval Used for teaching robotics! 45 https://vimeo.com/103126982
- 57. More challenges
- 58. Noury Bouraqadi, Luc Fabresse, Jannik Laval 47
- 59. Noury Bouraqadi, Luc Fabresse, Jannik Laval 48 Resource( Constraints( (RAM,(CPU,( Ba5ery...)( Changing' Condi*ons' Hardware' +'So+ware' Integra0on'
- 60. Noury Bouraqadi, Luc Fabresse, Jannik Laval 49 Resource( Constraints( (RAM,(CPU,( Ba5ery...)( Hardware' +'So+ware' Integra0on' Self% Adapta+on% Changing' Condi*ons'
- 61. Noury Bouraqadi, Luc Fabresse, Jannik Laval 50 Hardware' +'So+ware' Integra0on' Self% Adapta+on% Changing' Condi*ons' Smalltalk' +'FPGA' Resource( Constraints( (RAM,(CPU,( Ba5ery...)(
- 62. Noury Bouraqadi, Luc Fabresse, Jannik Laval 51 •Build a Pharo robotic application •Identify critical parts •Project the critical parts on FPGA •Evaluation of performance gain/loss EXPERIMENT
- 63. Noury Bouraqadi, Luc Fabresse, Jannik Laval 52 http://www.youtube.com/watch?v=e1Hzt4soQIc
- 64. Noury Bouraqadi, Luc Fabresse, Jannik Laval 53 Camera RGB →HSV HSV filtrer Laser sensor Object detector Motors
- 65. Noury Bouraqadi, Luc Fabresse, Jannik Laval 54 Camera RGB →HSV HSV filtrer Laser sensor Object detector Critical part ! Motors
- 66. Noury Bouraqadi, Luc Fabresse, Jannik Laval 55 Smalltalk application HW/SW Partitioning SW HW PharoVM FPGA Interface
- 67. Noury Bouraqadi, Luc Fabresse, Jannik Laval 56 Self% Adapta+on% Changing' Condi*ons' Smalltalk' +'FPGA' Resource( Constraints( (RAM,(CPU,( Ba5ery...)( TDD# Hardware' +'So+ware' Integra0on'
- 68. Noury Bouraqadi, Luc Fabresse, Jannik Laval 57 Physical)Environment) Robot% Actuator%Actuator% Computer% Sensor%Sensor% Sensor% Actuator%Actuator% Actuator% So2ware%So2ware%So2ware%
- 69. Noury Bouraqadi, Luc Fabresse, Jannik Laval 58 Physical)Environment) Robot% Actuator%Actuator% Computer% Sensor%Sensor% Sensor% Actuator%Actuator% Actuator% So2ware%So2ware%So2ware% Safety)
- 70. Noury Bouraqadi, Luc Fabresse, Jannik Laval 59 Simula'on* Safety*
- 71. Noury Bouraqadi, Luc Fabresse, Jannik Laval 60 http://www.youtube.com/watch?v=oNrvuaASwrU
- 72. Noury Bouraqadi, Luc Fabresse, Jannik Laval 61 37# Simula*on# Noise# Resources# Failure# Asynchrony# Precision#
- 73. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 62 Ensure emergency stop working!
- 74. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 63 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones
- 75. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 64 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones Run test only if prerequisites pass
- 76. Noury Bouraqadi, Luc Fabresse, Jannik Laval Methodology for safe TDD 65 Ensure emergency stop working! Order tests - Sensors before actuators - Controlled environments before open ones - Static environments before dynamic ones Run test only if prerequisites pass BoTest' Framework'
- 77. Noury Bouraqadi, Luc Fabresse, Jannik Laval 66 the$ Future is Robo-cs
- 78. Noury Bouraqadi, Luc Fabresse, Jannik Laval 67 10#000#000+#
- 79. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 68 Amazon drones for Parcel Delivery
- 80. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 69 Google self-driving car
- 81. Noury Bouraqadi, Luc Fabresse, Jannik Laval Big players invest in robotics 70 Google self-driving car Google&Bought&8& Robo.cs&Companies&in& 2013!&
- 82. Noury Bouraqadi, Luc Fabresse, Jannik Laval 71 the$ Future is Robo-cs
- 83. Noury Bouraqadi, Luc Fabresse, Jannik Laval 72 the$ Future is Robo-cs the$ Future is Robo-cs Let’s$$make$it$with$ Smalltalk
- 84. Noury Bouraqadi, Luc Fabresse, Jannik Laval 72 the$ Future is Robo-cs the$ Future is Robo-cs Let’s$$make$it$with$ Smalltalk
- 85. Douai loves Argentina !
- 86. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
- 87. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
- 88. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
- 89. Noury Bouraqadi, Luc Fabresse, Jannik Laval 74 Douai
- 90. Small Talk with Robots Noury Bouraqadi, Luc Fabresse, Jannik Laval http://car.mines-douai.fr