Simulation and deployment of control algorithms in advanced robotics applications.ontrols Matthews

7/28/2019 Simulation and deployment of control algorithms in advanced robotics applications.ontrols Matthews

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Simulation and deployment of controlalgorithms in advanced robotics

applications

Ian Matthews

Aerospace & Defense Business Development Manager

National Instruments Europe


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DeveloperSimulated

Robotics

Simulated

Environment

Remote

Operator

Robotic

System

Operating

Environment

Trial Operator PrototypeRobotics

TrialEnvironment

Introduction


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Linking Design and Test

Research/Modeling Design/Simulation Verification/Validation Deployment

Product VerificationDesign Verification

System

Modeling

Hardware in the Loop

to improve simulationsPrototype Test


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Graphical System Design

DeployPrototypeDesign

Interactive Algorithm Design

Control design

Dynamic system simulation Digital filter design

Advanced mathematics

Deployable Targets

Rugged deployment platforms

Distributed networking Human-machine interfaces

Custom designs

Tight I/O Integration

I/O modules and drivers

COTS FPGA hardware VHDL and C code integration

Design validation tools


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Graphical System DesignPractical Deployment

PXI and ModularInstruments

Desktops andPC-Based DAQ

RIO and CustomDesigns

Test Monitor Embedded Control Cyber Physical

Open Connectivitywith 3rd Party I/O


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Developer

Simulated

Robotics

Simulated

Environment

Remote

OperatorRobotic

System

Operating

Environment

Prototype

Robotics

Trial

Environment

Applying GSD to Robotics


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NI Platform for Control

LabVIEW Development EnvironmentControl Design andSimulation Module System ID Toolkit StateChart Module

LabVIEW Windows LabVIEW Real-Time

Targets

PID and FuzzyLogic Toolkit Simulation InterfaceToolkit NI Motion Control

LabVIEW FPGA

PXI Systems CompactRIO Single-Board RIO Custom Design


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LabVIEW Simulation Interface Toolkit (SIT)

LabVIEW Front PanelSimulation Model

Model Parameters and

SignalsLabVIEW Controls and

Indicators

SIT Connection Manager


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Simulate dynamic systems including controllers and plants

Real-time implementation for rapid control prototyping or hardware-in-the-loop simulation

LabVIEW Simulation Loop


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Physics-based environment simulator

Based on the Open Dynamics Engine (ODE)

Easy to switch between simulated IO and realworld IO

LabVIEW Robotics Module Visualisation


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Abstraction Engine

Human Machine

Interfaces3D Visualisation

Simulation ModelsCommunications to

remote systemsDirect I/O Links

Hardware Abstraction

Common

Messages


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LabVIEW

`

Real-Time

LabVIEW

Desktop

LabVIEW

FPGA

LabVIEW

MPU/MCU

Personal Computers PXI Systems CompactRIO Single-Board RIO

Dataflow C / HDL Code Textual Math Simulation Statechart

Custom Design

Abstraction of Computation & Hardware


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CompactRIO & Single-Board RIO

NI RIO Technology Platform

PXI RIO

ValueValue Ultra Rugged Performance High Performance

LabVIEWLabVIEW Real-Time

LabVIEW FPGA

Processor FPGAI/OI/O

Custom I/O

Driver APIs

Device Drivers

I/O Drivers

Signal Processing IP

Control IP

Third-Party IP


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NI CompactRIO Embedded Architecture

Real-Time Processor Reconfigurable FPGA

I/O Modules

Reconfigurable FPGA for high-speed and custom I/O timing, triggering, controlReal-Time Processor for deterministic, stand-alone operation, logging and analysis

I/O Modules with built-in signal conditioning for connection to sensors/actuators

Extreme Ruggedness

-40 to 70 C temperature range50g shock, 5g vibration

Low Power Consumption

9 to 35 VDC power, 7-10 W typical


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Compact Size4.05 x 3.8

10.3 x 9.7cm

Panel IOPower

USBEthernet

RS232

CAN

RIO ArchitectureReal-Time Processor

Programmable FPGA

RIO Mezzanine Card(RMC)FPGA DIO

USB

Processor IO

Digital Only Single-Board RIO


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Ocean Rings

OceanRINGS

Virtual Underwater Lab for Ocean Systems Modelling andSimulation

System CoreSimulation ToolsModelling ToolsControl Tools

Virtual EnvironmentVirtual structuresVirtual ROVsVirtual support vessels

Visualisation Tools

Real-World EnvironmentReal structuresReal ROVsReal support vessels

DisturbancesVirtual wavesVirtual ocean currents

DisturbancesReal wavesReal ocean currents


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Ocean Rings

OceanRINGS

Virtual Underwater Lab for Ocean Systems Modelling andSimulation

System CoreSimulation ToolsModelling ToolsControl Tools

Virtual EnvironmentVirtual structuresVirtual ROVsVirtual support vessels

Visualisation Tools

Real-World EnvironmentReal structuresReal ROVsReal support vessels

DisturbancesVirtual wavesVirtual ocean currents

DisturbancesReal wavesReal ocean currents


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OceanRings Prototyping to Deployment

UUV

Operator

Control Signals

Simulation Environment

Adaptive

Control

Simulation View & HMI


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CompactRIO

PXIRIO

PCI RIO

Size of Systems

SystemF

lexibilityandPric

e

Single-BoardRIOCompactRIOIntegrated

Custom I/O

I/O

I/O

I/O

Processo

r

FPG

A

Off the shelf hardware for prototyping


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"The NI CompactRIO system has been used as flight computer in order to

manage flight data acquisition and helicopter control.

ApplicationCreate a flexible, reconfigurable flight

computer for studying control and navigation

laws at the University of Bologna

ChallengesRequires rugged, high-performance, rapiddevelopment platform with low SWaP

ProductscRIO with LV tool chain, Control Design andSimulation Module

Key benefitsVery fast development, highly integrated

I/O platform and software, transparentsensor integration

Case Study: Rotorcraft UAV flight computer


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"Using LabVIEW and NI PXI hardware, we achieved full dynamic flight control of

two vehicles with a team of two developers The collective-pitch helicopter

successfully completed flight testing the same day it arrived at the test bed

ApplicationFacilitate Flight Control testing for future

MAVs

ChallengesHigh degree of determinism required

Must interface easily to various 3rd partyhardware as well as Simulink

ProductsLabVIEW Real-time,, PXI, Simulation

Interface Toolkit

Key benefitsSimple hard real-time implementation,rapid development environment, simple

interface to Simulink models

Case Study: MAV Flight Control Test Bed


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" The NI CompactRIO controller provides the processing speeds, low-power

consumption, ruggedness and compactness necessary to successfully collect and

communicate atmospheric data, unpressurized, at altitudes of 64,000 feet aboard

unmanned aeronautical platforms like Global Hawk

ApplicationOzone monitoring payload for 70,000 ft

operation

ChallengesRequires low SWaP, on-board storage,TCP/IP, UDP comms, NTP time sync

ProductscRIO, LabVIEW embedded tool chain

Key benefitsSWaP, low pressure performance, ease of

programming, strong TCP/IP and UDP support

Case Study: Ozone Monitoring on Global Hawk


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ApplicationCOTS Components, 20-2000 MHz, 30

minutes from mil-pouch batteries, AM/FM

modulation with external inputs,

programmable internal modulation. Payloadfor deployment on a Predator drone

ProductsPXI, LabVIEW, RF Source

Case Study: Tactical Communication Jammer


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Prototype on COTS Hardware

TRL : 3 - 5

Design on the Desktop

TRL : 0 - 3

Deploy on Custom Hardware

TRL : 6 - 9

Conclusions

Operator User

Interface

3D Visualisation of

EnvironmentSimulation Models

Robotic System

Operating

Environment

Communication to

Remote System


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Questions?

Simulation and deployment of control algorithms in advanced robotics applications.ontrols Matthews

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