Towards a Unified Model-based Control Framework for Rapid (Space) Robotics developments André Schiele
www.telerobotics.estec.esa.int
16/05/2013
Typical Application Scenario
Multi-purpose End-To-End Robotic Operation Network
METERON METERON Multi purpose End-To-End Robotics Operation Network
Telerobotics & Haptics Laboratory
| A. Schiele | ESA/ESTEC | Pag. 2
Typical Application Scenario METERON Experiment - EXO-1 on ISS International Space Station
ESTRACK + Internet
OBC & CUP
Columbus Module
Zvezda Module
Real-time
TDRSS
(TC/TM, Augmented Reality Video)
DTN
Uplink (Files, Images, Instructions) Downlink (Images, Log-files)
Monitoring Centre (E.g. Russia) Real-time Monitoring
DDS, DTN
Internet
DDS – Real-time Monitoring (Publisher-Subscriber) E.g. Topic „LBR Workcell“ DTN
Control Centre (Noordwijk) DDS, DTN Video & Telemetry Monitoring (Surveillance)
...
Real-time Monitoring
Experiment preparation
Robotic System (Noordwijk) Maintenance Task for Astronaut: „Replace Electronics“ Camera Control
Robot Control
Typical Application Scenario
E.g. Bilateral Control Architecture + time delay compensation
-
Ze
C6
Fe
CS Ve
-
ZS-1
+
Fe*
+
+ +
Slave Observer C C TIME DELAY
C4
3
E.g. Channel Energy
C1
2
Master Observer / Compensator + +
Vh
+ -
Cm
Fh
C5
+
+
Fh*
Zm-1
-
E.g. Channel Energy
Zh
MODELING & CONTROL FRAMEWORK
Robotic Control Software Framework What it should be able to be..
Modular Model-based
Configurable
Adoptable
Extendable
Flexible Reusable
Portable
Maintainable
Distributable Scalable
Robotic Control Software Framework What it should be able to be..
Modular Model-based
Adoptable
Configurable
Monolithical solutions are Illusionary !
Extendable
Flexible Reusable
Portable
Maintainable
Distributable Scalable
SPAN – Portable Application Networks
Permeation description for a typical distributed robotics system
Layers
Components
Services
NEW “Cloud” centric layering definition
Within single or multiple Layer(s)
Between layers and components
Framework Developer(s)
Communication
File Transfer
Application Developer(s) User(s) Network(s)
Control Coordination Visualization
Video Streaming
Simulation
‘Data’ transfer
Perception Action
Platform(s)
Code generation
Planning & Scheduling
Logging File handling
SPAN Robotics Control Framework Modules Overview
–
SPAN (Space Portable Applications Network) TOOL SUITE – – –
Cross-platform (Windows/Linux), RT Linux Implemented in C/C++, Matlab/Simulink integration Highly automated and built for ease of usage – Auto-code generation – Scripting (xml) driven
SPANcomm • Communications library • Create, read and write shared memory and UDP • simple XML interface • DDS Middleware autogen
SPANviewer • Visualization tool • Analyze and debug kinematic descriptions and control algorithms • 3D stereo vision • Augmented reality Separate presentation S. Kimmer, Thu 09:30
SPANtoolbox • Matlab/Simulink toolbox • Standard set of functions for rotation transformation, frame transformation, … • Set of utilities for simulations (UDP, Shared Memory, Sleep function) • Dynamics extension (started)
SPANdaemon • Process control / tracking • File Transfer • Logging • Storage management
SPAN Robotics Control Framework Qualified Code-Gen Module
– TASTE (The ASSERT Set of Tools for Engineering) Auto-code generator – –
–
Open-source project, initially developed by EU (FP6) in combination with ESA A software modeling approach to code-generation (AADL, ASN. 1-based) From C, Ada, SDL, SCADE, Simulink, VHDL,
–
To Native Linux, RT Linux (Xenomai), Leon2/RTEMS … might become toolchain for efficient flight S/W development from our research code…
SPAN Robotics Control Framework The iPHONE for Robotics
–
Robot Web User Interface (RoboWebUI) – – – –
Code generation for mobile device App’s Touch support Integrated with Real-time OS’s Web scripting only !
–
Cross-platform capable: (App’s) – iOS – Android – Blackberry OS – WebOS – Windows Phone 7 + 8 – Symbian – Bada (Samsung) – Mac OSX – Windows 7/8 – Linux
Example – HAPTICS-1
First Experiment with Force-reflection in Space (ISS) – Q4 2013
Tablet PC “Touch Interface” Component for experiment control (Single User Entry Point)
User
Input
Controller
Actuator
Multiple Experiments FT Sensor
HAPTICS-1 Mechatronics Hardware Component
Example – HAPTICS-1 Framework overview
Dev. Host
Developer
DDS.IDL’s Message.IDL
(Simulink / Steateflow)
External Mode
Main.mdl
Dev. Host INDEX.html App.js DDSParse.js
Extendability
DDS S-function
iOS Android Windows 8
Target RT App & (Xenomai) Web Interface (Xenomai) Tablet PC RT Target
User
HTML5 CSS3 JS
Extendability Data Distribution Service DDS QoS1
Network
QoS.xml Peers.txt
TCP/IP Data Distribution Service DDS QoS1
RTEMS Xenomai Linux
HW
Platform
RTOS
Target Target RT RT System (Xenomai) Executable
Fieldbus I/O
EtherCAT FTSense
MOT
Extendability
QoS.xml Peers.txt
Example – Scalability
Multi-platform / Multi-user Collaborative Environment
Dev. Host
Dev. Host
Developer User 1
User
Network
Interactive User 2
Touch PC
Exoskeleton & Glove
TCP/IP Viz.xml CAD.vrml
Platform
SPAN viewer 3D Projection System
Exoskeleton RT Platform
Data-Glove Ackquisition Platform
Vicon Motion Capture
Example – Scalability
Multi-platform / Multi-user Collaborative Environment
Dev. Host
Dev. Host
Developer User 1
User
Interactive User 2
Touch PC
Exoskeleton & Glove
TCP/IP The Developer needs only : Network
- Simulation model (.mdl) for the control aspects - Text files (.xml) for SPANviewer - The CAD models for SPANviewer Platform - Text file (.IDL) 3D for full comm’s definition Data-Glove Exoskeleton Projection Ackquisition - The CMS for the Web-page (in progress) RT Platform System
Platform
Viz.xml CAD.vrml
SPAN viewer Vicon Motion Capture
Remote Perception Optimization
VIDEO – Integrated Multi-platform / Multi-robot System
Application Examples From ESA Telerobotics Lab.
THANK YOU !
http://telerobotics.estec.esa.int YouTube:
TeleroboticsLab
[email protected] 
