001_ts5040_labview robotics starter kit (dani) lab exercisesf
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LabVIEW Robotics Starter Kit (DaNI)
Lab Exercises
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Dr. James Conrad
John Wilkes
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Outline
Course Information
Lab Development and Materials
Lab Descriptions and Demonstrations
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Lab Descriptions and Demonstrations
Results and DaNI model Comparison
Conclusion
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UNC Charlotte Intro to Robotics Course
Senior/Graduate level.
Prerequisite: Programming course, Senior standing.
Currently only offered in the summer.
Program a modern microcontroller using LabVIEW
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Program a modern microcontroller using LabVIEW
and operate its peripheral devices.
Book: Autonomous Mobile Robots by Roland
Siegwart, second edition, 2011.
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UNC Charlotte Robotics Course (Cont).
Identify general concepts of Systems Engineering.
Identify sensors and integrate them in a robot.
Design motion sub-systems (DC motors, servos,
steppers, linear actuators) and identify how they
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steppers, linear actuators) and identify how they
would be integrated in a robot.
Design a motion trajectory planning algorithm and
implement it in a robot.
Hands-on labs a major part of course.
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Development of Labs Senior Design
Original labs developed as a UNCC sponsored
senior design project
Team of 3 Computer Engineering students
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Team of 3 Computer Engineering students
Labs developed over 2 semesters
Deliverables: Labs, tutorials, solutions
Sr. Design requires extensive project
management and reporting documentation
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Development of Labs, Additional Materials
Sensors
Accelerometer: ADXL 320
Infrared: Sharp GP2Y0A21YK
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Infrared: Sharp GP2Y0A21YK
Sensor Bracket / Extender
Wiring
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Materials Available to Instructors
Lab Assignments
Gives background information and requirements for
the labs
Lab tutorials
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Lab tutorials
Step-by-step instructions for completing labs
Solutions
LabVIEW VI files
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Lab 1 Intro. to LabVIEW Robotics
Introduction / Tutorial packet ships with the DaNI
robotic platform
Basic tutorial for creating a LabVIEW robotics
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Basic tutorial for creating a LabVIEW robotics
project
Hardware setup and configuration
Tests motors and ultrasonic sensor
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Lab 2 Motor Control
Teaches basic concepts of locomotion using a
wheeled robotic platform
Goal Robot will traverse a 2x2 Meter square
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Goal Robot will traverse a 2x2 Meter square
2 Meters
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Lab 2 Demonstration
Live demonstration
Student video
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Lab 3 Edge Detection
Teaches concepts of hierarchy
Adding sensors to DaNISharp GP2Y0A21YK
Infrared Sensor
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Infrared Sensor
A
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g
V
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a
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(
V
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)
Distance (cm)
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Lab 3 - Demonstration
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Lab 4 - Accelerometers
Teaches the use of an accelerometer with a
robotic platform
Accelerometer used as a tilt detector
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Accelerometer used as a tilt detector
ADXL 320
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Lab 4 Demonstration
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Lab 5 A* Path Planning
Teaches integration of a completed algorithm
with the DaNI robotic platform
Requires a mastery of basic motor control
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Requires a mastery of basic motor control
Utilizes multiple sub VIs
2D Arrays
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Lab 5 A* Path Planning
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Lab 6 Obstacle Course
Students must use DaNI, along with any sensors
of their choosing to navigate an obstacle course
Student Examples:
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Student Examples:
Modified A*
Measurement
Sub VIs
Sensors
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Lab 6 Demonstration Using A*
DaNI 1.1 video
DaNI 2.0 video
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Student Reception to LabVIEW
Previous courses had a strong embedded
development component (design complete
subsystems)
Students were at first enthusiastic about learning
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Students were at first enthusiastic about learning
LabVIEW
Learning curve was steep for a 10-week course
DaNI 1.1 FPGA compile times (up to 25 minutes)
too long for rapid prototyping
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DaNI 1.1 vs. DaNI 2.0
DaNI 1.1
Gears
4 wheels
sbRIO-9631
DaNI 2.0
Direct Drive
3 wheels
sbRIO-9632
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sbRIO-9631
LabVIEW 2009
sbRIO-9632
LabVIEW 2011
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Labs in Development
Vision Acquisition
Axis network camera is used
to track another robot using
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to track another robot using
color detection
Will follow another robot in
a convoy like fashion
Axis M1011 Network Camera
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Conclusion LabVIEW Platform provides a good environment for
rapid implementation
Student reception has been guarded
LabVIEW learning curve is a bit overwhelming for some
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LabVIEW learning curve is a bit overwhelming for some
DaNI 1.1 vehicle not ideal
DaNI 1.1 FPGA compile times too long
DaNI 2.0 vehicle and development environment
provides an excellent platform for course.
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Contact Info
James M. ConradAssociate ProfessorDept. of Electrical and Computer Engineering
UNC-Charlotte9201 University city Boulevard
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9201 University city BoulevardCharlotte, NC 28223jmconrad@uncc.edu*http://www.ece.uncc.edu/~jmconradPhone: 704-687-8597Fax: 704-687-4762
* Preferred method of contact
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