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LabVIEW Robotics Starter Kit (DaNI)

Lab Exercises

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Dr. James Conrad

John Wilkes

Outline

• Course Information

• Lab Development and Materials

• Lab Descriptions and Demonstrations

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• Lab Descriptions and Demonstrations

• Results and DaNI model Comparison

• Conclusion

UNC Charlotte Intro to Robotics Course

• Senior/Graduate level.

• Prerequisite: Programming course, Senior standing.

• Currently only offered in the summer.

• Program a modern microcontroller using LabVIEW

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• Program a modern microcontroller using LabVIEW

and operate its peripheral devices.

• Book: Autonomous Mobile Robots by Roland

Siegwart, second edition, 2011.

UNC Charlotte Robotics Course (Cont).

• Identify general concepts of Systems Engineering.

• Identify sensors and integrate them in a robot.

• Design motion sub-systems (DC motors, servos,

steppers, linear actuators) and identify how they

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steppers, linear actuators) and identify how they

would be integrated in a robot.

• Design a motion trajectory planning algorithm and

implement it in a robot.

• Hands-on labs a major part of course.

Development of Labs – Senior Design

• Original labs developed as a UNCC sponsored

senior design project

• Team of 3 Computer Engineering students

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• Team of 3 Computer Engineering students

• Labs developed over 2 semesters

• Deliverables: Labs, tutorials, solutions

• Sr. Design requires extensive project

management and reporting documentation

Development of Labs, Additional Materials

• Sensors

– Accelerometer: ADXL 320

– Infrared: Sharp GP2Y0A21YK

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– Infrared: Sharp GP2Y0A21YK

• Sensor Bracket / Extender

• Wiring

Materials Available to Instructors

• Lab Assignments

� Gives background information and requirements for

the labs

• Lab tutorials

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• Lab tutorials

� Step-by-step instructions for completing labs

• Solutions

� LabVIEW VI files

Lab 1 – Intro. to LabVIEW Robotics

• Introduction / Tutorial packet ships with the DaNI

robotic platform

• Basic tutorial for creating a LabVIEW robotics

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• Basic tutorial for creating a LabVIEW robotics

project

• Hardware setup and configuration

� Tests motors and ultrasonic sensor

Lab 2 – Motor Control

• Teaches basic concepts of locomotion using a

wheeled robotic platform

• Goal – Robot will traverse a 2x2 Meter square

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• Goal – Robot will traverse a 2x2 Meter square

2 Meters

Lab 2 – Demonstration

• Live demonstration

• Student video

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Lab 3 – Edge Detection

• Teaches concepts of hierarchy

• Adding sensors to DaNISharp GP2Y0A21YK

Infrared Sensor

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Infrared Sensor

Ana

log Voltage

(Vo)

Distance (cm)

Lab 3 - Demonstration

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Lab 4 - Accelerometers

• Teaches the use of an accelerometer with a

robotic platform

• Accelerometer used as a “tilt detector”

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• Accelerometer used as a “tilt detector”

ADXL 320

Lab – 4 Demonstration

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Lab 5 – A* Path Planning

• Teaches integration of a completed algorithm

with the DaNI robotic platform

• Requires a mastery of basic motor control

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• Requires a mastery of basic motor control

• Utilizes multiple sub VI’s

• 2D Arrays

Lab 5 – A* Path Planning

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Lab 6 – Obstacle Course

• Students must use DaNI, along with any sensors

of their choosing to navigate an obstacle course

• Student Examples:

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• Student Examples:

� Modified A*

� Measurement

� Sub VI’s

� Sensors

Lab 6 – Demonstration Using A*

• DaNI 1.1 video

• DaNI 2.0 video

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Student Reception to LabVIEW

• Previous courses had a strong embedded

development component (design complete

subsystems)

• Students were at first enthusiastic about learning

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• Students were at first enthusiastic about learning

LabVIEW

• Learning curve was steep for a 10-week course

• DaNI 1.1 FPGA compile times (up to 25 minutes)

too long for rapid prototyping

DaNI 1.1 vs. DaNI 2.0

• DaNI 1.1

� Gears

� 4 wheels

� sbRIO-9631

• DaNI 2.0

� Direct Drive

� 3 wheels

� sbRIO-9632

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� sbRIO-9631

� LabVIEW 2009

� sbRIO-9632

� LabVIEW 2011

Labs in Development

• Vision Acquisition

� Axis network camera is used

to track another robot using

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to track another robot using

color detection

� Will follow another robot in

a convoy like fashion

Axis M1011 Network Camera

Conclusion• LabVIEW Platform provides a good environment for

rapid implementation

• Student reception has been guarded

� LabVIEW learning curve is a bit overwhelming for some

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� LabVIEW learning curve is a bit overwhelming for some

� DaNI 1.1 vehicle not ideal

� DaNI 1.1 FPGA compile times too long

• DaNI 2.0 vehicle and development environment

provides an excellent platform for course.

Contact Info

James M. ConradAssociate ProfessorDept. of Electrical and Computer Engineering

UNC-Charlotte9201 University city Boulevard

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9201 University city BoulevardCharlotte, NC 28223jmconrad@uncc.edu*http://www.ece.uncc.edu/~jmconradPhone: 704-687-8597Fax: 704-687-4762

* Preferred method of contact

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