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Virtual Prototyping

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Behzad Samadi

on 27 January 2012

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Transcript of Virtual Prototyping

Virtual Prototyping
LEGO Mindstorms
ROS
Behzad Samadi
www.mechatronics3d.com

Conclusion
This is very cool!
What do you think?
Robotic Operating System
Open Hardware
Open Software
It all started with LEGO!
It was very exciting at first
but I had 40 students with
3 sets of LEGO!
Amazing!
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.
Conventional Path
Rapid Prototyping
Build
Modern Path
Concept
Virtual Prototype
Product
Test
Yes
No
Saves
resources
money
time
Simulation (Virtual Prototyping)
Software Simulation
Hardware in the Loop Simulation
Hardware Prototype
Software Simulation
High level languages such as
Maple\MapleSim
MATLAB\Simulink
Easy to develop
Hard to Implement on Hardware
For real-time implementation on hardware
the code should be rewritten or transformed.
Time consuming
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
Virtual Prototype
3D Creation Tool: Blender
Open Source
Characters
Vehicles
3D Movies
3D Game Engine
Physics Engine
Scripting Language
Middleware
Modular Open Robots Simulation Engine
MORSE
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.
Test
Design
Concept
Product
Yes
No
MORSE
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
Player Project
Stage
Gazebo (ODE)
We built one!
ODE (Open Dynamics Engine)
IrrLicht (Visualization)
ROS
has been used much more than MORSE
again works only under Linux
not easy to install, different versions of Linux and ROS
USARSim
Unified System for Automation and Robot Simulation
USARSim contains the virtual environment
Robots
Cars
Airplanes
Sensors
Actuator
You can "talk" to USARSim by TCP/IP.
Therefore the controller can be in
Python
Maple
MATLAB
Java
C++
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
behzad@mechatronics3d.com
Developed by NIST
Based on Unreal Game Engine
IEEE ICRA Virtual Manufacturing Competition
Robocup Rescue Simulation
Full transcript