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Transcript of Virtual Prototyping
This is very cool!
What do you think?
Robotic Operating System
It all started with LEGO!
It was very exciting at first
but I had 40 students with
3 sets of LEGO!
We realized that before making the robot, there are lots of things that we need to learn.
There are a few other Simulink models for LEGO Mindstorms but what if we want to build our own robot?
We need a virtual LEGO to build any robot that we could imagine.
Simulation (Virtual Prototyping)
Hardware in the Loop Simulation
High level languages such as
Easy to develop
Hard to Implement on Hardware
For real-time implementation on hardware
the code should be rewritten or transformed.
Prone to bugs
Software in the Loop
The virtual model and the controller are two different applications.
The applications "talk" to each other using a "middleware".
What is important is how parts interact.
The same code controls the virtual and the real model
Easily switch between the virtual and the real model
Reduces the time required for developement
Less prone to bugs
3D Creation Tool: Blender
3D Game Engine
Modular Open Robots Simulation Engine
Robot controller is in GeNoM
and talks to the robot in Pocolibs.
UAV controller is in Oroccos
and talks to the UAV in YARP.
UAV controller talks
to the robot controller in YARP.
Each of these programs
can run on a different computer.
been developed for Linux
Still under development
Blender and Python are going through major changes
will become much better than what it is now
ROS for Simulation
We built one!
ODE (Open Dynamics Engine)
has been used much more than MORSE
again works only under Linux
not easy to install, different versions of Linux and ROS
Unified System for Automation and Robot Simulation
USARSim contains the virtual environment
You can "talk" to USARSim by TCP/IP.
Therefore the controller can be in
We developed a MATLAB Toolbox for USARSim. Now, it is possible to have software in the loop simulations with the controller in MATLAB and the system in USARSim.
There was a MATLAB Toolbox before ours but it was mainly in Java and lacked some features.
Share your thoughts with me
Developed by NIST
Based on Unreal Game Engine
IEEE ICRA Virtual Manufacturing Competition
Robocup Rescue Simulation