Talking to Robots in Pharo
description
Transcript of Talking to Robots in Pharo
Noury&Bouraqadi,&Luc&Fabresse,&Jannik&Laval&h"p://car.mines/douai.fr4
Talking(to(
with(
Very long-term
goal!
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4Current4Robots4
54
Robots4at4our4lab464
Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
SoCware4SoCware4SoCware4
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Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
SoCware4SoCware4
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MulHple4Kinds4of4Robots4
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MulHple4Kinds4of4Robots4
Nou
ry4Bou
raqadi4–4JM
2L420104
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MulHple4Kinds4of4Robots4
Heterogeneity4Challenge4• Different4sensors4&4actuators4• Different4shapes4&4sizes44• Different4compuHng4capabiliHes4
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Heterogeneity4Challenge4124
Different4low/level4algorithms4
Different4Drivers4&4Protocols4
Heterogeneity4Challenge4134
Different4low/level4algorithms4
ImplementaHons4exist4
Different4Drivers4&4Protocols4
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Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
Algo4Algo4C,(C++(Python(
444
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Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
Algo4Algo4C,4C++4Python4
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Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
Middleware4
Algo4Algo4C,4C++4Python4
444
174
Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
Algo4Algo4C,4C++4Python4
444
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Physical4Environment4
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
Algo4Algo4C,4C++4Python4
444
Robot4Guide4using4194
• Museum4• Hospital4• Shopping4Mall4• …4
Robot4Guide4using4204
• Museum4• Hospital4• Shopping4Mall4• …4
Laser4Scans4!4Map4 Annotated4Map4
Robot4Guide4using4234
Motor4Odometer4 Motor4Odometer4Rangefinder4Rangefinder4Rangefinder4
Proprietary4SoCware4
Robot4Guide4using4244
Path44Planner4
LocalizaHon4System4
Motor4Odometer4 Motor4Odometer4Rangefinder4Rangefinder4Rangefinder4
Proprietary4SoCware4
Robot4Guide4using4254
Path44Planner4
LocalizaHon4System4
Motor4Odometer4 Motor4Odometer4Rangefinder4Rangefinder4Rangefinder4
Proprietary4SoCware4
App4
Bridge4
Talking(to(
with(
Talking(to(
with(
Talking(to(
with(
(Talk(Today)(
More4Challenges4294
More4Challenges4304
Resource4Constraints4(RAM,4CPU,4Ba"ery...)4
Hardware4+4SoCware4IntegraHon4
Changing4CondiHons4
More4Challenges4314
Self(Adapta;on(
Changing4CondiHons4
Resource4Constraints4(RAM,4CPU,4Ba"ery...)4 Hardware4
+4SoCware4IntegraHon4
More4Challenges4324
Smalltalk(+(FPGA(
(Talk(Tomorrow)(
Resource4Constraints4(RAM,4CPU,4Ba"ery...)4 Hardware4
+4SoCware4IntegraHon4
More4Challenges4334
TDD(
Hardware4+4SoCware4IntegraHon4
More4Challenges4344
TDD4
Hardware4+4SoCware4IntegraHon4
354
Physical(Environment(
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
SoCware4SoCware4SoCware4
364
Physical(Environment(
Robot4
Actuator4Actuator4Computer4
Sensor4Sensor4Sensor4 Actuator4Actuator4Actuator4
SoCware4SoCware4SoCware4 Safety(
374
Simula;on(
Safety(
384
SimulaHon4
Noise4
Resources4
Failure4
Asynchrony4
Precision4
Methodology4for4Safe4TDD4
• Ensure4emergency4stop4working!4• Order4tests4– Sensors4before4actuators4– Controlled4environments4before4open4ones4– StaHc4environments4before4dynamic4ones4
• Run4test4only4if4prerequisites4pass4
394
Methodology4for4Safe4TDD4
• Ensure4emergency4stop4working!4• Order4tests4– Sensors4before4actuators4– Controlled4environments4before4open4ones4– StaHc4environments4before4dynamic4ones4
• Run4test4only4if4prerequisites4pass4
404
Methodology4for4Safe4TDD4
• Ensure4emergency4stop4working!4• Order4tests4– Sensors4before4actuators4– Controlled4environments4before4open4ones4– StaHc4environments4before4dynamic4ones4
• Run4test4only4if4prerequisites4pass4
414
Methodology4for4Safe4TDD4
• Ensure4emergency4stop4working!4• Order4tests4– Sensors4before4actuators4– Controlled4environments4before4open4ones4– StaHc4environments4before4dynamic4ones4
• Run4test4only4if4prerequisites4pass4
424
BoTest4Framework4
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the44
Future4is4
RoboHcs4Let’s44make4it4with44
Smalltalk4
444
10(000(000+(
Big4Players4Invest4in4RoboHcs4• Amazon4Drones4for4Parcel4Delivery4
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Big4Players4Invest4in4RoboHcs4• Google4Self/Driving4Car44
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Big4Players4Invest4in4RoboHcs4• Google4Self/Driving4Car44
474
Google4Bought484RoboHcs4Companies4in4
2013!4
484
the44
Future4is4
RoboHcs4Let’s44make4it4with44
Smalltalk4
494
the44
Future4is4
RoboHcs4Let’s44make4it4with44
Smalltalk4 Noury&Bouraqadi,&Luc&Fabresse,&Jannik&Laval&h"p://car.mines/douai.fr4
Talking(to(
with(