Post on 22-Feb-2016
description
IN THE NAME OF GOD
IMMORTALS ETDP PRESENTATION
OUTLINE• Hardware
• Software
HARDWARE• Gyro
• Transmitter
GYRO• Outputs angular velocity!
• Angle Prediction
• Vision Latency
• No Vision Condition
• Delta Margin Shooting
• Global Command
• Outer PID loop on ω
Vy
Vx
WIRELESS• Network interface for robot communication
• Receives commands over UDP
• Sends back robot feedback to the IP that requested the feedback
• Multiple's AI computers
• Calculates data loss
• Used in AI for detecting interference
SOFTWARE• Performance bottleneck in SSL!
• SSL started in 1997
• Pentium CPUs back then
• Now in 2012 we have Core-i7!
SOFTWARE• Memory performance is the new bottleneck
• A read from memory takes ~600 cycles at 3.2 GHz!
SOFTWARE• Data oriented design• Its about shifting focus to how data is read and
written
• We know our data in SSL
SOFTWARE• Data Oriented Design in SSL
• OOP example
SOFTWARE• Data Oriented Design in SSL
• DOD example
SOFTWARE• GPU Computing
• Field evaluations
SOFTWARE• GPU Computing
• Safety evaluation
RESULT• Running AI and vision filtering in ~0.2 ms on laptop
• Makes possibility for doing more AI things
• No more carrying heavy PCs!
SOFTWARE• SB RRT
• Biasing the tree to safer areas
• Being used since 2010
SOFTWARE• Performance bottleneck
• Not in the SSL
• SSL is just a test bed for SB-RRT
• Computation time increases linearly with the number of obstacles
SOFTWARE• Using ANN to remove some obstacles
SOFTWARE• Prediction
• Removing latency
• Forward prediction in no vision condition
Questions?
Thank You