How you can build a robot Dr. Strangelove would approve

In 2019, nearly every citizen can be a maker! As airships, airplanes and nukes were great inventions of 70’s, applied robotics are the topic you should worry today! Join Thomas, my apprentice, on this wonderful journey of exploration. You will find out what great tools you can use today. How PID controllers, Arduino, Teensy and ROS can be used together to build a robot. You will see which open hardware device should be used as a brain and which one as a heart. You will learn how to let robot sense the world around it and how to let it think! You will explore the possibilities of modern robotics and AI. Remember: The whole point of the doomsday machine is lost...if you keep it a secret!

Slides from my talk which took a place at the WebExpo Prague 2019 conference at 20. 9. 2019.

https://www.webexpo.net/prague2019/talk/how-you-can-build-a-robot-dr-strangelove-would-approve

Transcript

1. Tomáš Jukin’s How You Can Build A Robot 
 Dr. Strangelove Would Approve!
2. In a world full of dreamers…
3. Where anything can be built…
4. …where technology is lurking in the dark
5. …where some of us, explorers, 
 might succeed…
6. How can one describe a Maker’s adventure?
7. Painfull Experience! as an exceptionally
8. Tomáš Jukin
9. Tomáš Jukin CTO at Juicymo
10. Tomáš Jukin CTO at Juicymo @Inza /in/tomas.jukin @JuicymoEN /in/juicymo @tomas.jukin @JuicymoEN
11. Meet my great mentor for today He is a man with great mind… …and few…deviations…
12. Dr. Strangelove! Meet my great mentor for today He is a man with great mind… …and few…deviations…
13. The beautiful journey and now, lets explore
14. The beautiful journey and now, lets explore and understand the pain…
15. of Modern #DYI Robotics
16. The Goal
17. To build a self steering rover + tank turning + remote The Goal
18. #Probee
19. #Probee + Arduino
20. #Probee + Arduino + RaspberryPi
21. #Probee + Arduino + RaspberryPi + Plastic
22. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue
23. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk
24. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“
25. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited
26. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic
27. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders
28. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders - Power source problems
29. #Probee + Arduino + RaspberryPi + Plastic + Stics & Hot Glue + Punk + The „first one“ - Limited - Basic - No encoders - Power source problems I will fix them in future ;)
31. #Probee
32. #Probee
33. #Probee #Rowee
34. #Rowee
35. #Rowee like Rower {
36. #Rowee Cute like Rower { {
37. What forms a Robot?
38. Robot What forms a Robot?
39. Hardware Robot What forms a Robot?
40. Hardware Firmware Robot What forms a Robot?
41. Hardware Firmware Software Robot What forms a Robot?
42. Remote Hardware Firmware Software Robot What forms a Robot?
43. Hardware Remote Hardware Firmware Software Robot What forms a Robot?
44. Hardware Firmware Remote Hardware Firmware Software Robot What forms a Robot?
45. What forms a Robot? Remote Robot
46. #Rowee What forms a Robot? Remote Robot
47. #Rowee Arduino Esplora What forms a Robot? Remote Robot
48. #Rowee Arduino Esplora Hardware Firmware Software Robot Hardware Firmware Remote What forms a Robot?
49. Hardware Firmware Software Architecture What forms a Robot?
50. Hardware Firmware Software Architecture What forms a Robot? Robot
51. Hardware Firmware Software Architecture What forms a Robot? Robot
52. Hardware Firmware Software Architecture What forms a Robot? Robot
53. Hardware Firmware Software Architecture What forms a Robot? Robot
54. Movement Firmware Architecture What forms a Robot? Robot Power Hardware Software
55. Hardware Firmware Software Architecture What forms a Robot? Robot
56. Hardware Firmware Software Robot What forms a Robot?
57. Hardware Firmware Software What forms a Robot?
58. Hardware Hardware Firmware Software What forms a Robot?
59. Hardware Hardware Control Hardware Firmware Software What forms a Robot?
60. Hardware Hardware Control Low-Level
 Control Hardware Firmware Software What forms a Robot?
61. Hardware Hardware Control Low-Level
 Control High-Level
 Control Hardware Firmware Software What forms a Robot?
62. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
63. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
64. Hardware Abstration Layer Artificial Intelligence Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
65. Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
66. Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
67. Sensors Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
68. Sensors Power Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
69. Sensors PID Power Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
70. Sensors PID Power HAL Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
71. Sensors PID Commands Processing Power HAL Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
72. Sensors PID Commands Processing Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
73. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Hardware Firmware Software What forms a Robot?
74. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Voice Recognition Hardware Firmware Software What forms a Robot?
75. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
76. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Vision Processing Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
77. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Simultaneous localization and mapping Actuators Hardware Hardware Control Low-Level
 Control High-Level
 Control AI Vision Processing Neural Networks Voice Recognition Hardware Firmware Software What forms a Robot?
78. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot?
79. Microcomputer Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? }
80. Microcomputer Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } }
81. Microcomputer Microcontroller Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } }
82. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } } }
83. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What forms a Robot? } } } } } } } }
84. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 What forms a Robot? } } } } } } } }
85. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano What forms a Robot? } } } } } } } }
86. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 What forms a Robot? } } } } } } } }
87. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard What forms a Robot? } } } } } } } }
88. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino What forms a Robot? } } } } } } } }
89. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 What forms a Robot? } } } } } } } }
90. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 What forms a Robot? Mikrotik } } } } } } } }
91. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy What forms a Robot? Mikrotik } } } } } } } }
92. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw What forms a Robot? Mikrotik } } } } } } } }
93. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators What forms a Robot? Mikrotik } } } } } } } }
94. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders What forms a Robot? Mikrotik } } } } } } } }
95. Microcomputer Microcontroller Hardware Bluetooth, Wi-Fi Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 ASUS TinkerBoard Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo What forms a Robot? Mikrotik } } } } } } } }
96. Olinuxino HC-05 Teensy Roboclaw Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Nvidia Jetson Nano ReSpeaker Core v2 Pixy 2, OpenMV Cam M7 Battery, Regulators Microcomputer Microcontroller Hardware What forms a Robot?
97. Olinuxino HC-05 Teensy Roboclaw Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Nvidia Jetson Nano ReSpeaker Core v2 Pixy 2, OpenMV Cam M7 Battery, Regulators Microcomputer Microcontroller Hardware What forms a Robot?
98. https://www.pjrc.com/store/teensy35.html https://www.pololu.com/product/3285 https://arduino-shop.cz/arduino/1005- arduino-bluetooth-modul-hc-05.html https://www.olimex.com/Products/OLinuXino/A20/ A20-OLinuXino-LIME2/open-source-hardware https://www.asus.com/cz/Single-Board- Computer/Tinker-Board/ https://www.seeedstudio.com/ReSpeaker- Core-v2-0.html https://developer.nvidia.com/embedded/ jetson-nano-developer-kit https://openmv.io/products/openmv-cam-m7 https://pixycam.com/pixy2/ What forms a Robot? Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Microcomputer Microcontroller Hardware https://mikrotik.com/product/RB941-2nD
99. https://www.pjrc.com/store/teensy35.html https://www.pololu.com/product/3285 https://arduino-shop.cz/arduino/1005- arduino-bluetooth-modul-hc-05.html https://www.olimex.com/Products/OLinuXino/A20/ A20-OLinuXino-LIME2/open-source-hardware https://www.asus.com/cz/Single-Board- Computer/Tinker-Board/ https://www.seeedstudio.com/ReSpeaker- Core-v2-0.html https://developer.nvidia.com/embedded/ jetson-nano-developer-kit https://openmv.io/products/openmv-cam-m7 https://pixycam.com/pixy2/ What forms a Robot? Pixy 2, OpenMV Cam M7 Nvidia Jetson Nano ReSpeaker Core v2 Olinuxino HC-05 Teensy Roboclaw Battery, Regulators Encoders, Range Finders Motors, Servo Mikrotik ASUS TinkerBoard Microcomputer Microcontroller Hardware https://mikrotik.com/product/RB941-2nD
100. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps? Microcomputer Microcontroller Hardware
101. 1. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps? Microcomputer Microcontroller Hardware
102. 1. 2. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps? Microcomputer Microcontroller Hardware
103. 1. 2. 3. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition What are the creations steps? Microcomputer Microcontroller Hardware
104. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition 1. 2. 3. What are the creations steps? Microcomputer Microcontroller Hardware
105. How it looks like?
106. How it looks like?
107. but where is the pain?
108. on every step!
109. How it looks like?
110. Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition 1. 2. 3. What are the creations steps? Microcomputer Microcontroller Hardware
111. What languages does a Robot speak? Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
112. What languages does a Robot speak? Python Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
113. What languages does a Robot speak? Tensor Flow Python Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
114. What languages does a Robot speak? Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
115. What languages does a Robot speak? bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
116. What languages does a Robot speak? AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
117. What languages does a Robot speak? C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
118. What languages does a Robot speak? Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
119. What languages does a Robot speak? Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
120. I’m a #Ruby guy!
121. I’m a #Ruby guy!
122. Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware What languages does a Robot speak?
123. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
124. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
125. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
126. Pain Levels Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
127. Pain Levels , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
128. Pain Levels , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
129. Pain Levels , , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
130. Pain Levels , , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
131. Pain Levels , , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
132. Pain Levels , , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
133. Pain Levels , , Binary Protocol Over UART C/C++ AT Commands bash, ROS + Ruby Tensor Flow Python bash, Ruby Sensors PID Commands Processing Planning, SLAM Power HAL Communication Actuators Vision Processing Neural Networks Voice Recognition Microcomputer Microcontroller Hardware
134. What was the greatest pain?
135. Value (%) -100 -50 0 50 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Set Point Value (%) 25 50 75 100 Measurement Value (%) 0 25 50 75 100 Time (ms) 0 20 40 60 80 100 120 140 160 180 200 PID Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Measurement (%) Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100110120 130140150 160170180 190200 Error 100 -50 0 50 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Measurement Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100110 120130140 150160170 180190200 PID Control Loops!
136. Value (%) -100 -50 0 50 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Set Point Value (%) 25 50 75 100 Measurement Value (%) 0 25 50 75 100 Time (ms) 0 20 40 60 80 100 120 140 160 180 200 PID Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Measurement (%) Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100110120 130140150 160170180 190200 Error 100 -50 0 50 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Measurement Value (%) 0 25 50 75 100 Time (ms) 0 10 20 30 40 50 60 70 80 90 100110 120130140 150160170 180190200 PID Control Loops!
137. What is PID?
138. What is PID? Proportional
139. What is PID? Proportional Integral
140. What is PID? Proportional Integral Derivative
141. What is PID? Proportional Integral Derivative
142. What is PID? Proportional Integral Derivative
143. What is PID? Proportional Integral Derivative „now“
144. What is PID? Proportional Integral Derivative „now“ „past“
145. What is PID? Proportional Integral Derivative „now“ „past“ „future“
146. What is PID?
147. reality What is PID?
148. reality goal What is PID?
149. reality goal error What is PID?
150. reality goal error adjustment What is PID?
151. reality goal error adjustment What is PID? 23°C
152. reality goal error adjustment What is PID? 23°C 30°C
153. reality goal error adjustment What is PID? 23°C 30°C +7°C
154. reality goal error adjustment What is PID? 23°C 30°C +7°C Heater ON!
155. reality goal error What is PID? 23°C 30°C +7°C Heater ON! adjustment
156. reality goal error What is PID? 23°C 30°C +7°C Heater ON! adjustment
157. reality goal error What is PID? 23°C 30°C +7°C Heater ON! adjustment - =
158. reality goal error What is PID? 23°C 30°C +7°C Heater ON! adjustment - = Defines
159. reality goal error What is PID? 23°C 30°C +7°C Heater ON! adjustment - = Defines Changes
160. plant set point error What is PID? 23°C 30°C +7°C Heater ON! control - = Changes
161. plant set point error What is PID? control - = Changes
162. plant set point error What is PID? P + I + D - = Changes
163. What is PID? Proportional Integral Derivative „present“ „future“ „past“
164. What is PID? Proportional Integral Derivative „present“ „future“ „past“
165. What is PID? Proportional Integral Derivative based on error distance „present“ „future“ „past“
166. What is PID? Proportional Integral Derivative based on error distance based on error change rate „present“ „future“ „past“
167. What is PID? Proportional Integral Derivative based on error distance based on error accumulation based on error change rate „present“ „future“ „past“
168. What is PID? Proportional Integral Derivative based on error distance based on error accumulation based on error change rate „present“ „future“ „past“
169. What is PID? Proportional Integral Derivative based on error distance based on error accumulation based on error change rate „present“ „future“ „past“ Wants to adjust error ASAP
170. What is PID? Proportional Integral Derivative based on error distance based on error accumulation based on error change rate „present“ „future“ „past“ Wants to adjust error ASAP Prevents too big changes
171. What is PID? Proportional Integral Derivative based on error distance based on error accumulation based on error change rate „present“ „future“ „past“ Wants to adjust error ASAP Wants to finish precisely over time Prevents too big changes
172. What is PID?
173. But there is MORE!
174. But there is MORE! The „software“ part Neural Networks ROS odometry voice recognition vision processing SLAM planning remote AI movement
175. #Rowee is Open Source https://github.com/Juicymo/iot-rowee
176. Excelsior!
177. Excelsior! Now You Can Build Your Own Robot!
178. Tomáš Jukin CTO at Juicymo @Inza /in/tomas.jukin @JuicymoEN /in/juicymo @tomas.jukin @JuicymoEN