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LabVIEW Robotics Starter Kit (DaNI) Lab Exercises

Dr. James Conrad John Wilkes

Outline
Course Information Lab Development and Materials 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 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 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.
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Development of Labs Senior Design

Original labs developed as a UNCC sponsored senior design project Team of 3 Computer Engineering students Labs developed over 2 semesters Deliverables: Labs, tutorials, solutions Sr. Design requires extensive project management and reporting documentation
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Development of Labs, Additional Materials

Sensors

Accelerometer: ADXL 320 Infrared: Sharp GP2Y0A21YK

Sensor Bracket / Extender Wiring

Materials Available to Instructors

Lab Assignments
Gives background information and requirements for the labs

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 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
2 Meters

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Lab 2 Demonstration
Live demonstration Student video

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Lab 3 Edge Detection

Teaches concepts of hierarchy Adding sensors to DaNI
Sharp GP2Y0A21YK Infrared Sensor
Analog Voltage (Vo)

Distance (cm)

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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

ADXL 320

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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 Utilizes multiple sub VIs 2D Arrays

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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:
Modified A* Measurement Sub VIs Sensors

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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 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
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DaNI 1.1 vs. DaNI 2.0

DaNI 1.1 DaNI 2.0
Direct Drive 3 wheels sbRIO-9632 LabVIEW 2011 Gears 4 wheels sbRIO-9631 LabVIEW 2009

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Labs in Development
Vision Acquisition
Axis network camera is used to track another robot using color detection Will follow another robot in a convoy like fashion
Axis M1011 Network Camera

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Conclusion
LabVIEW Platform provides a good environment for rapid implementation Student reception has been guarded
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.
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Contact Info
James M. Conrad Associate Professor Dept. of Electrical and Computer Engineering UNC-Charlotte 9201 University city Boulevard Charlotte, NC 28223 jmconrad@uncc.edu* http://www.ece.uncc.edu/~jmconrad Phone: 704-687-8597 Fax: 704-687-4762 * Preferred method of contact

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