Research Platforms for Embedded Control and Design
Transcript of Research Platforms for Embedded Control and Design
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Research Platforms for Embedded Control and Design
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Control, Robotics, Mechatronics& Embedded
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Industries and Applications
Test Monitor Embedded Control Mechatronics
Graphical System DesignA Platform-Based Approach for Measurement and Control
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Hardware and I/O Devices
PXI and Modular Instruments
Desktops and PC-Based DAQ
NI CompactRIO Open Connectivity With Third-Party I/O
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Multi-Modal Rover for Search and Rescue
Coordinated Robotics Lab
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With both an FPGA and a PowerPC processor, the Single-Board RIO platform has the flexibility to
handle a variety of programming tasks and algorithms in an efficient manner. Onboard Ethernet,
combined with a Wi-Fi adapter, enables real-time wireless communication, debugging, and
deployment of software Nick Morozovsky, Mechanical Engineering PhD student, Switchblade project leader
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MIT: Cheetah Robot Control & Test Systems sbRIO-9642 (Treadmill Control)
cRIO-9082 (Robot Control)
Developing a control architecture for legged locomotion
Sensor fusion for multi-parallel IMUs and laser distance sensors array
Significant time saving for system integration
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Andy Clegg & Petros SavidisIndustrial Systems & Control (ISC) Ltd.
2012 Graphical System Design Achievement Awards Overall Winner
Controlling a Motion Compensated Gangway to Access Offshore Turbines
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"The"The"The"The combinationcombinationcombinationcombination ofofofof NINININI LabVIEWLabVIEWLabVIEWLabVIEW andandandand NINININI CompactRIOCompactRIOCompactRIOCompactRIO waswaswaswas
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Andrew Clegg, Andrew Clegg, Andrew Clegg, Andrew Clegg,
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Andrew Clegg, Andrew Clegg, Andrew Clegg, Andrew Clegg,
Industrial Systems and Control Ltd Industrial Systems and Control Ltd Industrial Systems and Control Ltd Industrial Systems and Control Ltd
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Mechatronics System Components
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Improving the Efficiency of Design Teams
Domain ExpertsDomain Experts
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In the past, we would have needed a team of four people In the past, we would have needed a team of four people In the past, we would have needed a team of four people In the past, we would have needed a team of four people a controls a controls a controls a controls expert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmer, , , ,
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Software DesignersSoftware Designers
FPGA DesignersFPGA DesignersCustom IC DesignersCustom IC Designers
ASIC DesignersASIC Designers
Mechanical DesignersMechanical Designers
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expert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmerexpert, a mechanical engineer, an electrical engineer, and a programmer, , , , now it takes now it takes now it takes now it takes only one persononly one persononly one persononly one person....
Sean DoughertySean DoughertySean DoughertySean Dougherty
MechatronicsMechatronicsMechatronicsMechatronics Supervisor Supervisor Supervisor Supervisor
MacDonald MacDonald MacDonald MacDonald DettwilerDettwilerDettwilerDettwiler and and and and AssociatesAssociatesAssociatesAssociates
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Multithreading
scheduller
Develop algorithm
Programming
Environment
C Generator Real-Time Compiler, Linker, Debugger
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Prepare for Dual Core
GenerateC Code
Compile for Real-Time
Target
Debug Application on
Real-Time
Development with Traditional Tools
2 431
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scheduller
Development Tool Chain
EnvironmentReal-Time Processor and
Other Hardware
Third-Party Embedded Tools
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Development with LabVIEW
LabVIEW MathScript RT
Module
Prepare for Dual Core
C Code Generation
Compiler for Real-Time
Target
Debug Application on
Real-Time
Graphical and Textual
Programming
Inherent Multithreading
LabVIEW Compiler LabVIEW Real-Time Module
1
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Module Multithreading Compiler
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DeployPrototypeDesignDesignDesignDesign
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A Highly Productive Graphical Development Environment for Engineers and Scientists
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Custom User InterfacesCustom User InterfacesCustom User InterfacesCustom User Interfaces
Technology AbstractionsTechnology AbstractionsTechnology AbstractionsTechnology Abstractions
BuiltBuiltBuiltBuilt----in Librariesin Librariesin Librariesin Libraries
Programming Programming Programming Programming
ApproachesApproachesApproachesApproaches
Hardware APIsHardware APIsHardware APIsHardware APIs
Deployment TargetsDeployment TargetsDeployment TargetsDeployment Targets
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LabVIEWControl Design & Simulation
Construct and analyze system models
Design basic and advanced control algorithms
Simulate response of
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Simulate response of controller designs
Analyze control efficiency and stability interactively
Implement systems with built-in real-time I/O
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LabVIEW Control Design & Simulation Module
Standard Notation Reduces Learning Curve
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The Simulink Software Environment
Simulink is a registered trademark of The MathWorks, Inc.
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Dynamic System Simulation & Control
Single environment for:
Simulation of dynamic systems
Real-time implementation for rapid
control prototyping or hardware-in-the-
loop simulation
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LabVIEW MathScript RT
Powerful textual programming for Powerful textual programming for Powerful textual programming for Powerful textual programming for Control Design, Signal Processing, Control Design, Signal Processing, Control Design, Signal Processing, Control Design, Signal Processing, and Mathand Mathand Mathand Math
Hundreds of built-in functions
Reuse many of your m-file scripts created with The MathWorks, Inc.s MATLAB software and others
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MATLAB software and others
A native LabVIEW solutionA native LabVIEW solutionA native LabVIEW solutionA native LabVIEW solution Interactive and programmatic interfaces
Does not require 3rd party software
MATLAB is a registered trademark of The MathWorks, Inc.
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Combined Graphical / Textual ProgrammingA Hybrid Approach
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Fractal GenerationFractal GenerationFractal GenerationFractal Generation
.m Script Integration
Muilti-Core Processing
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The Problem40 Million Tonnes
UK Road Fuel Consumption
30%UK Energy Consumption
Most energy waste at
Aerodynamic Drag
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Most energy waste at
motorway speeds
80%Caused by Rear Airflow
Separation
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Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction
Using Pulsating JetsUsing Pulsating JetsUsing Pulsating JetsUsing Pulsating Jets
Inputs: 12 Pressure Sensors
Outputs: jets of air driven by
We are synthetically controlling airflow,
which directly results in significant
reductions in road transportation fuel
consumption and carbon emissions.
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Outputs: jets of air driven by loudspeakers enclosed in the body
Using a high performance real-time
NI PXI system, we acquired data
across 12 channels and multiplied by
high-order transfer functions within
just 50s.GeorgiosGeorgiosGeorgiosGeorgios RigasRigasRigasRigas
Flow Control Group
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Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction Feedback Control for Road Vehicle Drag Reduction
Using Pulsating JetsUsing Pulsating JetsUsing Pulsating JetsUsing Pulsating Jets
Inputs: 12 Pressure Sensors
Outputs: jets of air driven by
We are synthetically controlling airflow,
which directly results in significant
reductions in road transportation fuel
consumption and carbon emissions.
To program this, we used LabVIEW system
design software to seamlessly integrate with
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Outputs: jets of air driven by loudspeakers enclosed in the body
Using a high performance real-time
NI PXI system, we acquired data
across 12 channels and multiplied by
high-order transfer functions within
just 50s.GeorgiosGeorgiosGeorgiosGeorgios RigasRigasRigasRigas
Flow Control Group
design software to seamlessly integrate with
algorithms previously implemented in MATLAB
with high-performance NI hardware.
MATLAB is a registered trademark of The MathWorks, Inc.
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Models of Computation in Action
Textual MathTextual MathTextual MathTextual Math
I/O integrationI/O integrationI/O integrationI/O integration
TimingTimingTimingTiming
Data FlowData FlowData FlowData Flow
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ParallelParallelParallelParallel
StatechartsStatechartsStatechartsStatecharts Control & SimulationControl & SimulationControl & SimulationControl & Simulation
C & HDL CodeC & HDL CodeC & HDL CodeC & HDL Code
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DeployPrototypePrototypePrototypePrototypeDesign
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Critical Real-Time Applications
Event Response Closed-Loop Control Critical Tests
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LabVIEW Real-TimeLinker
System Analysis Tools
Compiler
Debugger
Real-Time Development Tools
Development
Software
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Execution Trace Tool
LabVIEW Real-Time
Target
System Analysis Tools
RTOS
Microprocessor
I/O Connectivity
Real-Time
Hardware
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Prototyping Hardware NI CompactRIO
Rugged, reconfigurable
deployment platform for controls,
mechatronics, and robotics
applications
FPGA parallel processing
capabilities to optimize your
control algorithms
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Up to 40 MHz control loop rates
with FPGA-based backplane
Modular I/O modules for flexible
I/O provide optimum flexibility
and mixed-signal integration
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Real-time does notdoes notdoes notdoes not always mean real fast
Real-time means absolute reliabilityabsolute reliabilityabsolute reliabilityabsolute reliability
Real-time systems have timing constraints that must be
met to avoid failure
Determinism is the ability to complete a task within a fixed
amount of time
Introduction to Real-Time OS
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amount of time
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Operating System Characteristics
General Purpose OS High-priority tasks can be preempted by lower-priority tasks
Extraneous background programs
Screen savers, disk utilities, virus software, etc.
Peripheral Interrupts
Loop Rate Software Jitter
10-100 Hz Unbounded
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Peripheral Interrupts Mouse, keyboard, etc.
Real-Time OS Scheduler ensures high-priority tasks execute first
Direct control over all tasks Stand-alone (no mouse, keyboard, etc.)
Up to 100
kHzBounded
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Introduction to FPGA Technology
What is an FPGA?
Field programmable gate array (FPGA)
A silicon chip with unconnected gates and other hardware resources
Enables user to define and re-define functionality
How does an FPGA work?
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How does an FPGA work?
Circuit behavior is defined using software
Circuit specification (gate connection, etc.) is loaded into the hardware
No OS is needed for execution of logic
When is an FPGA used?
Custom hardware, fast execution, critical code
Reconfiguration required after deployment
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FPGA Technology
ProgrammableProgrammableProgrammableProgrammable
InterconnectsInterconnectsInterconnectsInterconnects
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I/O BlocksI/O BlocksI/O BlocksI/O Blocks
LogicLogicLogicLogic
BlocksBlocksBlocksBlocks
FieldFieldFieldField----Programmable Gate ArrayProgrammable Gate ArrayProgrammable Gate ArrayProgrammable Gate Array
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FPGA Logic Implementation
A
FE
Implementing Logic on FPGA: F = {(A+B)CD} E
LabVIEW FPGA Code
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A
B
C
D
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Why are FPGAs useful?
High Reliability High Reliability High Reliability High Reliability Designs implemented in hardware
High PerformanceHigh PerformanceHigh PerformanceHigh Performance Computational abilities open new possibilities for measurement and data processing speed
Low Latency Low Latency Low Latency Low Latency Run algorithms at deterministic
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Low Latency Low Latency Low Latency Low Latency Run algorithms at deterministic rates down to 5 ns
ReconfigurableReconfigurableReconfigurableReconfigurable Create DUT / application-specific personalities
True ParallelismTrue ParallelismTrue ParallelismTrue Parallelism Enables parallel tasks and pipelining, reducing test times
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FPGA Technology - Abstract Complexity
Counter Analogue I/O I/O with DMA
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LabVIEW FPGA VHDL ~4000 lines
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High-Speed Control
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About 200 kHz loop rate
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DeployDeployDeployDeployPrototypeDesign
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Blind Driver ChallengeStudent Design from Virginia TechStudent Design from Virginia TechStudent Design from Virginia TechStudent Design from Virginia Tech
Road Ready Vehicle for Blind
Non-visual driving interfaces
FPGA Parallel ProcessingPotential Field Algorithms
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Potential Field Algorithms
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NI Single-Board RIO Platform
Real-Time Processor FPGA
Digital I/O
Analog I/O
C Series I/O
The power of CompactRIO on a single board.
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NI Single-Board RIO Platform
Model Processor
Speed
(MHz)
FPGA
Size
(Gates)
3.3V
DIO
Lines
AI
Channels
(NI 9205)
AO
Channels
(NI 9263)
24V DI/DO
(NI 9425 &
NI 9476)
C Series
Expansion
(Slots)
sbRIO-9601 266 1M 110 0 0 0 3
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sbRIO-9601 266 1M 110 0 0 0 3
sbRIO-9602 400 2M 110 0 0 0 3
sbRIO-9611 266 1M 110 32 0 0 3
sbRIO-9612 400 2M 110 32 0 0 3
sbRIO-9631 266 1M 110 32 4 0 3
sbRIO-9632 400 2M 110 32 4 0 3
sbRIO-9641 266 1M 110 32 4 32/32 3
sbRIO-9642 400 2M 110 32 4 32/32 3
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RIO Evaluation hardware (315) sbRIO-9636
400 MHz Real-Time Controller
AI, AO, DIO, LCD Screen
90-day extended evaluation
version of NI LabVIEW, Real-Time and FPGA
NI LabVIEW RIO Evaluation Kit
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Step-by-Step Tutorials
All necessary cables and accessories
Online Community Support
Every customer interested in LabVIEW RT or FPGA
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LabVIEWControlled Quadcopter
NI Products used: NI Products used: NI Products used: NI Products used: LabVIEW FPGA, LabVIEW
Real Time, NI sbRIO, VISA Drivers
Application: Application: Application: Application: An aerial vehicle designed, developed and deployed using
Graphical Systems Design
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Reasons for choosing NI Products: Reasons for choosing NI Products: Reasons for choosing NI Products: Reasons for choosing NI Products:
Development of this type of project
from the ground up could not have
been achieved using any other
platform in just three months. The
LabVIEW PID toolkit took weeks off
development time and the sbRIO
provided simple integration of COTS
sensors
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HexapodInverse Kinematics and
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Inverse Kinematics and
Closed Loop Balancing on sbRIO
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Graphical System Design
DeployPrototypeDesign
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DeployPrototypeDesign
Interactive Algorithm Design
Control design
Dynamic system
simulation
Digital filter design
Advanced mathematics
Deployable Targets
Rugged deployment
platforms
Distributed networking
Custom designs
Tight I/O Integration
I/O modules and drivers
COTS FPGA hardware
VHDL and C code
integration
Design validation tools