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

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Part I

Term Project

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

ESELU Term Project Meta Goals

◮ Introduction to state-of-the art design tools used in

research & industry

◮ Model (real-time) systems to control ’the environment’ ◮ Decomposition + platform allocation ◮ 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 Term Project Assignment

Goals Assignment Overview Tasks Logistics

ESELU Term Project Goal

The embedded system is a quadcopter which can be simulated in Mathwork Matlab/Simulink.

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!)

1Certain side-conditions apply, see assignment overview and grading.

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

ESELU Term Project Tasks Overview

◮ Get familiar with the simulation ◮ Design your racing solution and plan out implementation ◮ Write up the design document + tasks + group member

assignment

◮ Implement your solution ◮ Write up the project report 5/26

ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Task 1: Get familiar with the Simulation

◮ Simulation parameters (used solvers, simulation step size,

...)

◮ Quadcopter dynamics

◮ 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)

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Task 2: Racing Flight Controllers

◮ Consider that flight control algorithms need to run on

microcontrollers:

◮ Discrete time ◮ Fixed-point instead of floating point number format

◮ Choose adequate architecture to

◮ 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 ;)

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Separation of Behavior (Example)

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

The ESELU Quadcopter Simulation

For practical reasons, please implement only in the ’control_system’ block!

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

The ESELU Quadcopter Simulation

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Procedure

◮ Use version management (e.g., Github) ◮ Simulation environment and flight controller

◮ Use (and credit) existing material (papers, quadcopter

Simulink models, ...)

◮ Deadline: 28.01.2016 (hard)

◮ Documentation

◮ Design document: before 18.12.2015 23:59 ◮ 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

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Expected Results

◮ Documentation/lab protocol

◮ single PDF document, keep it short ◮ but keep it as complete as necessary too

◮ Implementation ◮ Delivery talk on 28.01.2016 ◮ Optional: present results in front of CE institute audience

⇒ easy ticket to find master-thesis topic & supervisor

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ESELU Term Project Assignment

Goals Assignment Overview Tasks Logistics

Grading

◮ Grading: documentation + delivery talk

◮ Minimal solution (80%) ◮ Documentation ◮ Position control ◮ Path tracking ◮ 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 Term Project Assignment

Goals Assignment Overview Tasks Logistics

Call for Contribution

There is a wiki:

wiki.vmars.tuwien.ac.at/index.php/ESEWS15

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Part II

Platforms

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Jetson TK1 Cluster

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Jetson TK1 Cluster

◮ Clock-synchronized platform ◮ 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 Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform: AscTec Pelican

◮ ’professional’ quadcopter: well tested, extensible research

platform

◮ brushless motor driven, 10” propellors, max. payload 650g 18/26

ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform: AscTec Pelican, Overview

◮ product link:

http://www.asctec.de/uav-applications/ research/products/asctec-pelican/

◮ developer wiki (incl. SDKs, manuals, ...):

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

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, R/C Controls

AscTec: ”It is mandatory to provide a safety pilot during the tests of your control algorithms.”

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, Autopilot Board

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, Autopilot Board

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, PELICAN 1

◮ Camera, 1/3" CMOS, 752x480 @ 90 fps, 8-bit

MONOCHROME, 50g

◮ Intel R

CoreTM i7-3612QE (4 x 2.1 GHz), Linux system

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, PELICAN 2

◮ Hokuyo URG 04LX laser range finder, detection range:

0.06 - 4 m, 10 Hz, measuring area: 240◦, angular resolution: 0.36◦, 190 g

◮ 1.6 GHz Intel Atom processor board, 1GB DDR2 RAM, Linux

system

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ESELU Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Target Platform, AscTec Pelican, Application Board

◮ 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 Term Project Assignment

Hardware- In-the-Loop (HIL) AscTec Pelican

Sources

All graphics/photos of AscTec drones (c) by AscTec, Germany. 26/26