ESELU Term Project Assignment Bernhard Frmel and Denise Ratasich - PowerPoint PPT Presentation

ESELU Term Project Assignment ESELU Term Project Assignment Bernhard Frömel and Denise Ratasich Institut für Technische Informatik Technische Universität Wien - 182.722 Embedded Systems Engineering LU October, 2015 1/26

ESELU Term Project Assignment Goals Assignment Overview Part I Tasks Logistics Term Project 2/26

ESELU ESELU Term Project Meta Goals Term Project Assignment Goals ◮ Introduction to state-of-the art design tools used in Assignment Overview research & industry ◮ Model (real-time) systems to control ’the environment’ Tasks ◮ Decomposition + platform allocation Logistics ◮ Component/system design ◮ Non-functional properties: fault tolerance, security, safety ◮ Control theory ◮ Sensor fusion: confidence weighted averaging, Kalman filtering, ... ◮ Artificial intelligence: localization, planning, ... ◮ Verification/testing 3/26

ESELU ESELU Term Project Goal Term Project Assignment Goals The embedded system is a quadcopter which can be simulated in Mathwork Matlab/Simulink. Assignment Overview Tasks Logistics The goal is to challenge the race! 1 ◮ Start from an initial position ◮ Reach waypoints while avoiding obstacles/ground crashes ◮ As fast/efficient as possible (of course!) 1 Certain side-conditions apply, see assignment overview and grading. 4/26

ESELU ESELU Term Project Tasks Overview Term Project Assignment Goals Assignment Overview ◮ Get familiar with the simulation Tasks ◮ Design your racing solution and plan out implementation Logistics ◮ Write up the design document + tasks + group member assignment ◮ Implement your solution ◮ Write up the project report 5/26

ESELU Task 1: Get familiar with the Simulation Term Project Assignment Goals Assignment ◮ Simulation parameters (used solvers, simulation step size, Overview ...) Tasks ◮ Quadcopter dynamics Logistics ◮ Vast amount of literature + many implementations available ◮ You should be able to comprehend/explain the modeled system dynamics ◮ Modeled sensors (ranges, error, noise, ...) ◮ Reactive controller (control roll, pitch, yaw, and thrust set points) 6/26

ESELU Task 2: Racing Flight Controllers Term Project Assignment Goals ◮ Consider that flight control algorithms need to run on microcontrollers: Assignment Overview ◮ Discrete time ◮ Fixed-point instead of floating point number format Tasks ◮ Choose adequate architecture to Logistics ◮ implement necessary behavior. For example separate in hierarchical layers: ◮ Deliberate Layer ◮ Executive Layer ◮ Reactive Layer ◮ Improve results by employing ’tricks’ ◮ Sensor fusion ◮ Optimal path planning ◮ But don’t cheat ;) 7/26

ESELU Separation of Behavior (Example) Term Project Assignment Goals Assignment Overview Tasks Logistics 8/26

ESELU The ESELU Quadcopter Simulation Term Project Assignment Goals Assignment Overview Tasks Logistics For practical reasons, please implement only in the ’control_system’ block! 9/26

ESELU The ESELU Quadcopter Simulation Term Project Assignment Goals Assignment Overview Tasks Logistics 10/26

ESELU Procedure Term Project Assignment ◮ Use version management (e.g., Github) ◮ Simulation environment and flight controller Goals ◮ Use (and credit) existing material (papers, quadcopter Assignment Simulink models, ...) Overview ◮ Deadline: 28.01.2016 (hard) ◮ Documentation Tasks ◮ Design document: before 18.12.2015 23:59 Logistics ◮ Problems + Requirements ◮ Design, solution methods ◮ Task breakdown + Group member assignment + Schedule (e.g., Gantt chart) ◮ Send by email: froemel@vmars.tuwien.ac.at ◮ Project report: 24.01.2016 ◮ Revise design document and take as starting point ◮ Add implementation description ◮ Demo (HowTo + some Screenshots) ◮ Conclusion ◮ Efforts/Expenditure per person and task ◮ opportunity to carry on: Embedded Systems Engineering Project, 6.0 ECTS 11/26

ESELU Expected Results Term Project Assignment Goals Assignment Overview ◮ Documentation/lab protocol Tasks ◮ single PDF document, keep it short ◮ but keep it as complete as necessary too Logistics ◮ Implementation ◮ Delivery talk on 28.01.2016 ◮ Optional: present results in front of CE institute audience ⇒ easy ticket to find master-thesis topic & supervisor 12/26

ESELU Grading Term Project Assignment Goals ◮ Grading: documentation + delivery talk Assignment ◮ Minimal solution (80%) Overview ◮ Documentation Tasks ◮ Position control ◮ Path tracking Logistics ◮ Optimal path planning (20%) ◮ Given waypoints, obstacles and ground, find optimal path ◮ e.g., A*/D* search, model predictive control ◮ Win the race (10% bonus) ◮ Second place (8% bonus) ◮ Third place (5% bonus) ◮ Winning the race means be the fastest without crashes. 13/26

ESELU Call for Contribution Term Project Assignment Goals Assignment Overview Tasks Logistics There is a wiki: wiki.vmars.tuwien.ac.at/index.php/ESEWS15 14/26

ESELU Term Project Assignment Hardware- In-the-Loop (HIL) Part II AscTec Pelican Platforms 15/26

ESELU Jetson TK1 Cluster Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican 16/26

ESELU Jetson TK1 Cluster Term Project Assignment Hardware- In-the-Loop (HIL) ◮ Clock-synchronized platform AscTec Pelican ◮ Ethernet communication ◮ (Currently) powerful: Kepler 192 GPU cores, 4 ARM Cortex quadcore SoC, 2 GB RAM, ... ◮ for deploying code-generated (parts of a) Simulink model, ◮ still a lot needs to be done (ESE project?) ◮ anyone? 17/26

ESELU Target Platform: AscTec Pelican Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican ◮ ’professional’ quadcopter: well tested, extensible research platform ◮ brushless motor driven, 10” propellors, max. payload 650g 18/26

ESELU Target Platform: AscTec Pelican, Overview Term Project Assignment ◮ product link: Hardware- http://www.asctec.de/uav-applications/ In-the-Loop research/products/asctec-pelican/ (HIL) ◮ developer wiki (incl. SDKs, manuals, ...): AscTec Pelican http://wiki.asctec.de/xwiki/bin/view/Main/ ◮ base features: ◮ autopilot sensor board (accelerometer, gyroscope, pressure sensor, low-level and high-level control systems) ◮ magnetometer ◮ GPS receiver ◮ Futuba R/C ◮ X-bee Pro, Datalink ◮ 6100mAh, 11.1V, LiPo battery pack, 450g ◮ autopilot high-level controller programmable ◮ C programs, API and SDK available ◮ Simulink models 19/26

ESELU Target Platform, AscTec Pelican, R/C Controls Term Project Assignment AscTec: ”It is mandatory to provide a safety pilot during the Hardware- tests of your control algorithms.” In-the-Loop (HIL) AscTec Pelican 20/26

ESELU Target Platform, AscTec Pelican, Autopilot Board Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican 21/26

ESELU Target Platform, AscTec Pelican, Autopilot Board Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican 22/26

ESELU Target Platform, AscTec Pelican, PELICAN 1 Term Project Assignment ◮ Camera, 1/3" CMOS, 752x480 @ 90 fps, 8-bit MONOCHROME, 50g Hardware- In-the-Loop ◮ Intel R � CoreTM i7-3612QE (4 x 2.1 GHz), Linux system (HIL) AscTec Pelican 23/26

ESELU Target Platform, AscTec Pelican, PELICAN 2 Term Project Assignment ◮ Hokuyo URG 04LX laser range finder, detection range: 0.06 - 4 m, 10 Hz, measuring area: 240 ◦ , angular Hardware- resolution: 0.36 ◦ , 190 g In-the-Loop (HIL) ◮ 1.6 GHz Intel Atom processor board, 1GB DDR2 RAM, Linux system AscTec Pelican 24/26

ESELU Target Platform, AscTec Pelican, Application Board Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican ◮ capable to run Ubuntu Desktop (!) and various (partly Wine-emulated (!!)) GUI tools ◮ serial interface to Autopilot board: access to all sensors and motor control ◮ Google ROS nodes preinstalled ( www.ros.org ) ◮ high-speed interface: wireless LAN access point 25/26

ESELU Sources Term Project Assignment Hardware- In-the-Loop (HIL) AscTec Pelican All graphics/photos of AscTec drones (c) by AscTec, Germany. 26/26