small talk with robots
DESCRIPTION
This presentation is about using Pharo for controlling robots. We detailed our work on software engineering for robotics. These slides were presented at FAST smalltalks 2014, Cordoba, ArgentinaTRANSCRIPT
![Page 1: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/1.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 1
![Page 2: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/2.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Pomodoro
2
![Page 3: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/3.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Pomodoro
3
![Page 4: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/4.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Pomodoro
3
pomodorotechnique.com
![Page 5: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/5.jpg)
Small Talk with Robots
Noury Bouraqadi, Luc Fabresse, Jannik Laval
http://car.mines-douai.fr
![Page 6: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/6.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Research on Software Engineering for
5
![Page 7: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/7.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Research on Software Engineering for
6
![Page 8: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/8.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Research on Software Engineering for
6
Very long-term goal !
![Page 9: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/9.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Current robots
7
![Page 10: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/10.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Robot at our lab
8
![Page 11: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/11.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Infrastructure
9
Physical)Environment)
Robot)
Actuator)Actuator)Computer)
Sensor)Sensor)Sensor) Actuator)Actuator)Actuator)
So9ware)So9ware)So9ware)
![Page 12: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/12.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Infrastructure
10
Physical)Environment)
Robot)
Actuator)Actuator)Computer)
Sensor)Sensor)Sensor) Actuator)Actuator)Actuator)
So9ware)So9ware)
![Page 13: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/13.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Multiple kinds of robots
11
![Page 14: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/14.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Multiple kinds of robots
12
![Page 15: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/15.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Multiple kinds of robots
13
![Page 16: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/16.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Heterogeneity challenge
14
![Page 17: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/17.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Heterogeneity challenge
14
Different sensors and actuators
![Page 18: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/18.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Different computing capabilities
Heterogeneity challenge
14
Different sensors and actuators
![Page 19: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/19.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Different drivers and protocols
Different computing capabilities
Heterogeneity challenge
14
Different sensors and actuators
![Page 20: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/20.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Different drivers and protocols
Different computing capabilities
Heterogeneity challenge
14
Different sensors and actuators
Different low-level algorithms
![Page 21: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/21.jpg)
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
![Page 22: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/22.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 15
implementations exist
![Page 23: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/23.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 16
Physical)Environment)
Robot)
Actuator)Actuator)Computer)
Sensor)Sensor)Sensor) Actuator)Actuator)Actuator)
Algo)Algo)C,#C++#Python#
)))
![Page 24: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/24.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 17
Physical)Environment)
Robot)
Actuator)Actuator)Computer)
Sensor)Sensor)Sensor) Actuator)Actuator)Actuator)
Algo)Algo)C,)C++)Python)
?" )))
![Page 25: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/25.jpg)
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)
)))
![Page 26: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/26.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 19
Physical)Environment)
Robot)
Actuator)Actuator)Computer)
Sensor)Sensor)Sensor) Actuator)Actuator)Actuator)
Algo)Algo)C,)C++)Python)
)))
![Page 27: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/27.jpg)
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)
)))
![Page 28: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/28.jpg)
(small) talking to Robots
![Page 29: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/29.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Robot guide using
22
- Museum - Hospital - Shopping Mall - …
![Page 30: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/30.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Robot guide using
23
https://vimeo.com/109125625
![Page 31: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/31.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Laser scans > Map
24
![Page 32: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/32.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Annotated map
25
![Page 33: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/33.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Robot guide using
26
Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder%
Proprietary%So4ware%
![Page 34: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/34.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Robot guide using
27
Motor%Odometer% Motor%Odometer%Rangefinder%Rangefinder%Rangefinder%
Proprietary%So4ware%
Path%%Planner%
Localiza/on%System%
![Page 35: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/35.jpg)
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#
![Page 36: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/36.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 29
Talking(to(
with%
![Page 37: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/37.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 30
Talking(to(
with%
![Page 38: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/38.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 31
Talking(to(
with%
![Page 39: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/39.jpg)
visual programing for robotics
![Page 40: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/40.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
You know phratch !
33
![Page 41: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/41.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
You know phratch !
34
on top of Pharo
https://code.google.com/p/scat/
![Page 42: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/42.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
You know phratch !
34
on top of Pharo
https://code.google.com/p/scat/
![Page 43: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/43.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
You know phratch !
34
on top of Pharo
phratch.com sponsored by
https://code.google.com/p/scat/
![Page 44: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/44.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
What is new ?
35
phratch.com
Jetstorm - robotics
Jenkins
smart icons
![Page 45: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/45.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Add-ons
36
![Page 46: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/46.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
37
![Page 47: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/47.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
38
![Page 48: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/48.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
39
![Page 49: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/49.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
39
![Page 50: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/50.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
40
![Page 51: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/51.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
41
![Page 52: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/52.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Code accessibility
42
![Page 53: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/53.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
High extensibility !
43
![Page 54: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/54.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
High extensibility !
44
![Page 55: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/55.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
High extensibility !
44
![Page 56: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/56.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Used for teaching robotics!
45
https://vimeo.com/103126982
![Page 57: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/57.jpg)
More challenges
![Page 58: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/58.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 47
![Page 59: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/59.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 48
Resource(Constraints((RAM,(CPU,(Ba5ery...)(
Changing'Condi*ons'
Hardware'+'So+ware'Integra0on'
![Page 60: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/60.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 49
Resource(Constraints((RAM,(CPU,(Ba5ery...)(
Hardware'+'So+ware'Integra0on'
Self%Adapta+on%
Changing'Condi*ons'
![Page 61: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/61.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 50
Hardware'+'So+ware'Integra0on'
Self%Adapta+on%
Changing'Condi*ons'
Smalltalk'+'FPGA'
Resource(Constraints((RAM,(CPU,(Ba5ery...)(
![Page 62: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/62.jpg)
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
![Page 63: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/63.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
52
http://www.youtube.com/watch?v=e1Hzt4soQIc
![Page 64: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/64.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 53
Camera RGB →HSV
HSV filtrer
Laser sensor
Object detector Motors
![Page 65: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/65.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 54
Camera RGB →HSV
HSV filtrer
Laser sensor
Object detector
Critical part !
Motors
![Page 66: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/66.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 55
Smalltalk application
HW/SW Partitioning
SW HW
Pharo VM FPGA
Interface
![Page 67: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/67.jpg)
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'
![Page 68: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/68.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 57
Physical)Environment)
Robot%
Actuator%Actuator%Computer%
Sensor%Sensor%Sensor% Actuator%Actuator%Actuator%
So2ware%So2ware%So2ware%
![Page 69: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/69.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 58
Physical)Environment)
Robot%
Actuator%Actuator%Computer%
Sensor%Sensor%Sensor% Actuator%Actuator%Actuator%
So2ware%So2ware%So2ware% Safety)
![Page 70: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/70.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 59
Simula'on*
Safety*
![Page 71: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/71.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 60
http://www.youtube.com/watch?v=oNrvuaASwrU
![Page 72: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/72.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 61
37#
Simula*on#
Noise#
Resources#
Failure#
Asynchrony#
Precision#
![Page 73: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/73.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Methodology for safe TDD
62
Ensure emergency stop working!
![Page 74: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/74.jpg)
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
![Page 75: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/75.jpg)
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
![Page 76: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/76.jpg)
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 passBoTest'
Framework'
![Page 77: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/77.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 66
the$
Futureis
Robo-cs
![Page 78: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/78.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 67
10#000#000+#
![Page 79: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/79.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Big players invest in robotics
68
Amazon drones for Parcel Delivery
![Page 80: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/80.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Big players invest in robotics
69
Google self-driving car
![Page 81: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/81.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval
Big players invest in robotics
70
Google self-driving car
Google&Bought&8&Robo.cs&Companies&in&
2013!&
![Page 82: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/82.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 71
the$
Futureis
Robo-cs
![Page 83: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/83.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 72
the$
Futureis
Robo-cs
the$
Futureis
Robo-csLet’s$$make$it$with$
Smalltalk
![Page 84: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/84.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 72
the$
Futureis
Robo-cs
the$
Futureis
Robo-csLet’s$$make$it$with$
Smalltalk
![Page 85: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/85.jpg)
Douai loves Argentina !
![Page 86: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/86.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
![Page 87: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/87.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
![Page 88: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/88.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
![Page 89: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/89.jpg)
Noury Bouraqadi, Luc Fabresse, Jannik Laval 74
Douai
![Page 90: Small Talk with Robots](https://reader037.vdocument.in/reader037/viewer/2022100406/559ae3c01a28ab93798b4677/html5/thumbnails/90.jpg)
Small Talk with Robots
Noury Bouraqadi, Luc Fabresse, Jannik Laval
http://car.mines-douai.fr