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