Hands-on Teleoperation

TARET Winter School

Villach, February 5 –16, 2007

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DSP-2 solution: overview

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DSP-2 solution: overview

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Automatically created LabVIEW VI - front panel• Automatic VI creation requires LabVIEW and additional toolkit named “ComVIEW”

• VI is created based on existing template VI. During VI creation process, numerical controls and indicators are automatically added to the template VI front panel

• The user can fully accommodate front panel and block diagram to custom needs and in such a way takes full advantage of LabVIEW environment

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Modified LabVIEW front panel

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Automatically created LabVIEW VI - block diagram

• block diagram contains over 80 VI (VI’s for initialization, communication, … )

• The user doesn’t need to wire the block diagram;

• Front panel terminals are connected with DSP variables programmatically using DSP Connector Manager.

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DSP Connection Manager window

Front Panel Controls

Front Panel Indicators

DSP input variables

Parameters

DSP output variables

Connections table

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LabVIEW Web publishing tool and Remote panel technology

• Remote Panels is a LabVIEW add-on toolkit that enables viewing and controlling of LabVIEW VI over the Internet, by using standard web browser.

• Using LabVIEW Web publishing tool, LabVIEW front panels can be quickly and effortlessly publish on the Web.

• Once published, anyone on the Web with the proper permissions can access and control the experiment without installing LabVIEW

• Remote Panels includes an algorithm that prevent access collision by two different users to the same remote application:– If one client is controlling the remote experiment, the other remote

client is able to monitor the actions of the controlling client– If another client request control, the controlling client is notified that

control time has now become limited– Once the timeout occurs or the controlling client released control,

application control is automatically switched to the requesting client.

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LabVIEW Web publishing tool and Remote panel technology

• Weaknesses: – Remote user must have “LabVIEW Run-time Engine” installed on

his computer– Server must have a valid RemotePanels Licenses:

• One license is included in LabVIEW Full Development System• five in LabVIEW Professional Development System

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Teleoperation architecture

• A DSP-2 control system, connected to lab PC through the serial, USB or Ethernet port, implements a control algorithm developed using MATLAB/Simulink and through the analog and digital I/O signals, drives real plant;

• virtual instrument (VI) and the LabVIEW server are run on the same lab PC for the purpose of enabling the remote control;

• VI performs communication between lab PC and the DSP-2 control system. VI enables online DSP-2 signal monitoring and parameter tuning, while the LabVIEW server enables remote operation of an experiment.

Rem ote user Lab server D S P- 2 Learn ing Modu le w ith H br idge and D C m otor

I n ternet

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RC oscillator experiment - GUI in web browser