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Simulation and deployment of control algorithms in advanced robotics applications

Ian Matthews Aerospace & Defense Business Development Manager National Instruments Europe
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Introduction
Simulated Robotics Simulated Environment

Developer

Trial Operator

Prototype Robotics

Trial Environment

Remote Operator

Robotic System

Operating Environment

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Linking Design and Test

Design Verification Product Verification

Research/Modeling

Design/Simulation

Verification/Validation

Deployment

System Modeling

Hardware in the Loop to improve simulations

Prototype

Test

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Graphical System Design

Design Interactive Algorithm Design Control design Dynamic system simulation Digital filter design Advanced mathematics

Prototype Tight I/O Integration I/O modules and drivers COTS FPGA hardware VHDL and C code integration Design validation tools

Deploy Deployable Targets Rugged deployment platforms Distributed networking Human-machine interfaces Custom designs

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Graphical System Design

Practical Deployment
Test Monitor Embedded Control Cyber Physical

Desktops and PC-Based DAQ

PXI and Modular Instruments

RIO and Custom Designs

Open Connectivity with 3rd Party I/O

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Applying GSD to Robotics

Simulated Robotics Developer Prototype Robotics Remote Operator Robotic System Operating Environment Trial Environment Simulated Environment

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NI Platform for Control

LabVIEW Development Environment Control Design and Simulation Module PID and Fuzzy Logic Toolkit
LabVIEW Windows

System ID Toolkit Simulation Interface Toolkit

LabVIEW Real-Time

StateChart Module

NI Motion Control

LabVIEW FPGA

PXI Systems

CompactRIO

Single-Board RIO

Custom Design

Targets
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LabVIEW Simulation Interface Toolkit (SIT)

LabVIEW Front Panel Simulation Model

SIT Connection Manager LabVIEW Controls and Indicators Model Parameters and Signals

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LabVIEW Simulation Loop

Simulate dynamic systems including controllers and plants Real-time implementation for rapid control prototyping or hardwarein-the-loop simulation

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LabVIEW Robotics Module Visualisation

Physics-based environment simulator Based on the Open Dynamics Engine (ODE) Easy to switch between simulated IO and real world IO
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Hardware Abstraction
Human Machine Interfaces 3D Visualisation

Common Messages

Abstraction Engine

Simulation Models

Communications to remote systems

Direct I/O Links

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Abstraction of Computation & Hardware

Dataflow C / HDL Code Textual Math Simulation Statechart

LabVIEW

LabVIEW ``

LabVIEW

LabVIEW

Desktop

Real-Time

FPGA

MPU/MCU

Personal Computers

PXI Systems

CompactRIO

Single-Board RIO

Custom Design

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NI RIO Technology Platform

Signal Processing IP Control IP Third-Party IP

LabVIEW
LabVIEW Real-Time LabVIEW FPGA
I/O

Driver APIs Device Drivers I/O Drivers

Processor

FPGA

I/O Custom I/O

CompactRIO & Single-Board RIO Value

Value Ultra Rugged Performance

PXI RIO

High Performance

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NI CompactRIO Embedded Architecture

Real-Time Processor Reconfigurable FPGA

Extreme Ruggedness -40 to 70 C temperature range 50g shock, 5g vibration

I/O Modules

Low Power Consumption 9 to 35 VDC power, 7-10 W typical

I/O Modules with built-in signal conditioning for connection to sensors/actuators Reconfigurable FPGA for high-speed and custom I/O timing, triggering, control Real-Time Processor for deterministic, stand-alone operation, logging and analysis
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Digital Only Single-Board RIO

RIO Architecture Real-Time Processor Programmable FPGA Compact Size 4.05 x 3.8 10.3 x 9.7cm

Panel IO Power USB Ethernet RS232 CAN

RIO Mezzanine Card (RMC) FPGA DIO USB Processor IO

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Ocean Rings
Virtual Underwater Lab for Ocean Systems Modelling and Simulation
OceanRINGS
Disturbances
Virtual waves Virtual ocean currents System Core Simulation Tools

Disturbances
Real waves Real ocean currents

Virtual Environment
Virtual structures Virtual ROVs Virtual support vessels Modelling Tools Control Tools Visualisation Tools

Real-World Environment
Real structures Real ROVs Real support vessels

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Ocean Rings
Virtual Underwater Lab for Ocean Systems Modelling and Simulation
OceanRINGS
Disturbances
Virtual waves Virtual ocean currents System Core Simulation Tools

Disturbances
Real waves Real ocean currents

Virtual Environment
Virtual structures Virtual ROVs Virtual support vessels Modelling Tools Control Tools Visualisation Tools

Real-World Environment
Real structures Real ROVs Real support vessels

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OceanRings Prototyping to Deployment

Operator
Simulation View & HMI

Simulation Environment

Control Signals

Adaptive Control

UUV

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Off the shelf hardware for prototyping

I/O System Flexibility and Price I/O
PXI RIO
Processo r FPG A

I/O Custom I/O

PCI RIO

CompactRIO CompactRIO Integrated

Single-Board RIO

Size of Systems
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Case Study: Rotorcraft UAV flight computer

Application Create a flexible, reconfigurable flight computer for studying control and navigation laws at the University of Bologna Challenges Requires rugged, high-performance, rapid development platform with low SWaP Products cRIO with LV tool chain, Control Design and Simulation Module Key benefits Very fast development, highly integrated I/O platform and software, transparent sensor integration

"The NI CompactRIO system has been used as flight computer in order to manage flight data acquisition and helicopter control.
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Case Study: MAV Flight Control Test Bed

Application Facilitate Flight Control testing for future MAVs Challenges High degree of determinism required Must interface easily to various 3rd party hardware as well as Simulink Products LabVIEW Real-time,, PXI, Simulation Interface Toolkit Key benefits Simple hard real-time implementation, rapid development environment, simple interface to Simulink models

"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
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Case Study: Ozone Monitoring on Global Hawk

Application Ozone monitoring payload for 70,000 ft operation Challenges Requires low SWaP , on-board storage, TCP/IP , UDP comms, NTP time sync Products cRIO, LabVIEW embedded tool chain Key benefits SWaP , low pressure performance, ease of programming, strong TCP/IP and UDP support

" 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
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Case Study: Tactical Communication Jammer

Application COTS Components, 20-2000 MHz, 30 minutes from mil-pouch batteries, AM/FM modulation with external inputs, programmable internal modulation. Payload for deployment on a Predator drone Products PXI, LabVIEW, RF Source

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Conclusions

Design on the Desktop TRL : 0 - 3

Prototype on COTS Hardware TRL : 3 - 5

Deploy on Custom Hardware TRL : 6 - 9

Operator User Interface

Communication to Remote System

Robotic System

3D Visualisation of Environment

Simulation Models

Operating Environment

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Questions?

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