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How you can build a robot Dr. Strangelove would approve

Tomas Jukin
September 20, 2019

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

Tomas Jukin

September 20, 2019
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Transcript

  1. Tomáš Jukin’s
    How You Can Build A Robot 

    Dr. Strangelove
    Would
    Approve!

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  2. In a world full of dreamers…

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  3. Where anything can be built…

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  4. …where technology is lurking in the dark

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  5. …where some of us, explorers, 

    might succeed…

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  6. How can one describe a
    Maker’s adventure?

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  7. Painfull Experience!
    as an exceptionally

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  8. Tomáš Jukin

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  9. Tomáš Jukin
    CTO at Juicymo

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  10. Tomáš Jukin
    CTO at Juicymo
    @Inza
    /in/tomas.jukin
    @JuicymoEN
    /in/juicymo
    @tomas.jukin @JuicymoEN

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  11. Meet my great mentor for today
    He is a man with great mind…
    …and few…deviations…

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  12. Dr. Strangelove!
    Meet my great mentor for today
    He is a man with great mind…
    …and few…deviations…

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  13. The beautiful journey
    and now, lets explore

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  14. The beautiful journey
    and now, lets explore
    and understand the pain…

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  15. of Modern #DYI Robotics

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  16. To build a self steering rover
    + tank turning + remote
    The Goal

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  17. #Probee
    + Arduino

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  18. #Probee
    + Arduino
    + RaspberryPi

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  19. #Probee
    + Arduino
    + RaspberryPi
    + Plastic

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  20. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue

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  21. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk

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  22. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“

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  23. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“
    - Limited

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  24. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“
    - Limited
    - Basic

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  25. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“
    - Limited
    - Basic
    - No encoders

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  26. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“
    - Limited
    - Basic
    - No encoders
    - Power source problems

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  27. #Probee
    + Arduino
    + RaspberryPi
    + Plastic
    + Stics & Hot Glue
    + Punk
    + The „first one“
    - Limited
    - Basic
    - No encoders
    - Power source problems
    I will fix them
    in future ;)

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  28. #Probee
    #Rowee

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  29. #Rowee
    like Rower
    {

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  30. #Rowee
    Cute
    like Rower
    {
    {

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  31. What forms a Robot?

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  32. Robot
    What forms a Robot?

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  33. Hardware
    Robot
    What forms a Robot?

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  34. Hardware
    Firmware
    Robot
    What forms a Robot?

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  35. Hardware
    Firmware
    Software
    Robot
    What forms a Robot?

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  36. Remote
    Hardware
    Firmware
    Software
    Robot
    What forms a Robot?

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  37. Hardware
    Remote
    Hardware
    Firmware
    Software
    Robot
    What forms a Robot?

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  38. Hardware
    Firmware
    Remote
    Hardware
    Firmware
    Software
    Robot
    What forms a Robot?

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  39. What forms a Robot?
    Remote
    Robot

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  40. #Rowee
    What forms a Robot?
    Remote
    Robot

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  41. #Rowee Arduino Esplora
    What forms a Robot?
    Remote
    Robot

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  42. #Rowee Arduino Esplora
    Hardware
    Firmware
    Software
    Robot
    Hardware
    Firmware
    Remote
    What forms a Robot?

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  43. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?

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  44. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?
    Robot

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  45. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?
    Robot

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  46. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?
    Robot

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  47. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?
    Robot

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  48. Movement
    Firmware
    Architecture
    What forms a Robot?
    Robot
    Power
    Hardware
    Software

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  49. Hardware
    Firmware
    Software
    Architecture
    What forms a Robot?
    Robot

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  50. Hardware
    Firmware
    Software
    Robot
    What forms a Robot?

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  51. Hardware
    Firmware
    Software
    What forms a Robot?

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  52. Hardware
    Hardware
    Firmware
    Software
    What forms a Robot?

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  53. Hardware
    Hardware Control
    Hardware
    Firmware
    Software
    What forms a Robot?

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  54. Hardware
    Hardware Control
    Low-Level

    Control
    Hardware
    Firmware
    Software
    What forms a Robot?

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  55. Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    Hardware
    Firmware
    Software
    What forms a Robot?

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  56. Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  57. Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  58. Hardware Abstration Layer
    Artificial Intelligence
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  59. Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  60. Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  61. Sensors
    Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  62. Sensors
    Power
    Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  63. Sensors
    PID
    Power
    Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  64. Sensors
    PID
    Power
    HAL
    Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  65. Sensors
    PID
    Commands Processing
    Power
    HAL
    Actuators
    Hardware
    Hardware Control
    Low-Level

    Control
    High-Level

    Control
    AI
    Hardware
    Firmware
    Software
    What forms a Robot?

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  66. 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?

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  67. 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?

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  68. 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?

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  69. 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?

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  70. 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?

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  71. 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?

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  72. Sensors
    PID
    Commands Processing
    Planning, SLAM
    Power
    HAL
    Communication
    Actuators
    Vision Processing
    Neural Networks
    Voice Recognition
    What forms a Robot?

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  73. Microcomputer
    Sensors
    PID
    Commands Processing
    Planning, SLAM
    Power
    HAL
    Communication
    Actuators
    Vision Processing
    Neural Networks
    Voice Recognition
    What forms a Robot?
    }

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  74. Microcomputer
    Bluetooth, Wi-Fi
    Sensors
    PID
    Commands Processing
    Planning, SLAM
    Power
    HAL
    Communication
    Actuators
    Vision Processing
    Neural Networks
    Voice Recognition
    What forms a Robot?
    }
    }

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  75. 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?
    }
    }
    }

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  76. 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?
    }
    }
    }
    }

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  77. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  78. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  79. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  80. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  81. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  82. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  83. 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?
    }
    }
    }
    }
    }
    }
    }
    }

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  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
    Nvidia Jetson Nano
    ReSpeaker Core v2
    ASUS TinkerBoard
    Olinuxino
    HC-05
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

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  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
    ReSpeaker Core v2
    ASUS TinkerBoard
    Olinuxino
    HC-05
    Teensy
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

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  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
    ASUS TinkerBoard
    Olinuxino
    HC-05
    Teensy
    Roboclaw
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

    View full-size slide

  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
    Olinuxino
    HC-05
    Teensy
    Roboclaw
    Battery, Regulators
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

    View full-size slide

  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
    HC-05
    Teensy
    Roboclaw
    Battery, Regulators
    Encoders, Range Finders
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

    View full-size slide

  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
    Teensy
    Roboclaw
    Battery, Regulators
    Encoders, Range Finders
    Motors, Servo
    What forms a Robot?
    Mikrotik
    }
    }
    }
    }
    }
    }
    }
    }

    View full-size slide

  90. 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?

    View full-size slide

  91. 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?

    View full-size slide

  92. 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

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  93. 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

    View full-size slide

  94. Sensors
    PID
    Commands Processing
    Planning, SLAM
    Power
    HAL
    Communication
    Actuators
    Vision Processing
    Neural Networks
    Voice Recognition
    What are the creations steps?
    Microcomputer
    Microcontroller
    Hardware

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  95. 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

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  96. 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

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  97. 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

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  98. 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

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  99. How it looks like?

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  100. How it looks like?

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  101. but
    where is the pain?

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  102. on every step!

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  103. How it looks like?

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  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

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  105. 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

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  106. 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

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  107. 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

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  108. 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

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  109. 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

    View full-size slide

  110. 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

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  111. 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

    View full-size slide

  112. 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

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  113. 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

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  114. I’m a #Ruby guy!

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  115. I’m a #Ruby guy!

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  116. 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?

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  117. 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

    View full-size slide

  118. 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

    View full-size slide

  119. 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

    View full-size slide

  120. 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

    View full-size slide

  121. 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

    View full-size slide

  122. 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

    View full-size slide

  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

    View full-size slide

  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

    View full-size slide

  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

    View full-size slide

  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

    View full-size slide

  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

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  128. What was the greatest pain?

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  129. 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!

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  130. 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!

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  131. What is PID?

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  132. What is PID?
    Proportional

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  133. What is PID?
    Proportional
    Integral

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  134. What is PID?
    Proportional
    Integral
    Derivative

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  135. What is PID?
    Proportional
    Integral
    Derivative

    View full-size slide

  136. What is PID?
    Proportional
    Integral
    Derivative

    View full-size slide

  137. What is PID?
    Proportional
    Integral
    Derivative
    „now“

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  138. What is PID?
    Proportional
    Integral
    Derivative
    „now“
    „past“

    View full-size slide

  139. What is PID?
    Proportional
    Integral
    Derivative
    „now“
    „past“
    „future“

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  140. What is PID?

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  141. reality
    What is PID?

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  142. reality goal
    What is PID?

    View full-size slide

  143. reality goal error
    What is PID?

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  144. reality goal error
    adjustment
    What is PID?

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  145. reality goal error
    adjustment
    What is PID?
    23°C

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  146. reality goal error
    adjustment
    What is PID?
    23°C 30°C

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  147. reality goal error
    adjustment
    What is PID?
    23°C 30°C +7°C

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  148. reality goal error
    adjustment
    What is PID?
    23°C 30°C +7°C
    Heater ON!

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  149. reality goal error
    What is PID?
    23°C 30°C +7°C
    Heater ON!
    adjustment

    View full-size slide

  150. reality
    goal error
    What is PID?
    23°C
    30°C +7°C
    Heater ON!
    adjustment

    View full-size slide

  151. reality
    goal error
    What is PID?
    23°C
    30°C +7°C
    Heater ON!
    adjustment
    - =

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  152. reality
    goal error
    What is PID?
    23°C
    30°C +7°C
    Heater ON!
    adjustment
    - =
    Defines

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  153. reality
    goal error
    What is PID?
    23°C
    30°C +7°C
    Heater ON!
    adjustment
    - =
    Defines
    Changes

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  154. plant
    set point error
    What is PID?
    23°C
    30°C +7°C
    Heater ON!
    control
    - =
    Changes

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  155. plant
    set point error
    What is PID?
    control
    - =
    Changes

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  156. plant
    set point error
    What is PID?
    P + I + D
    - =
    Changes

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  157. What is PID?
    Proportional
    Integral
    Derivative
    „present“
    „future“
    „past“

    View full-size slide

  158. What is PID?
    Proportional
    Integral
    Derivative
    „present“
    „future“
    „past“

    View full-size slide

  159. What is PID?
    Proportional
    Integral
    Derivative
    based on error distance
    „present“
    „future“
    „past“

    View full-size slide

  160. What is PID?
    Proportional
    Integral
    Derivative
    based on error distance
    based on error change rate
    „present“
    „future“
    „past“

    View full-size slide

  161. What is PID?
    Proportional
    Integral
    Derivative
    based on error distance
    based on error accumulation
    based on error change rate
    „present“
    „future“
    „past“

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  162. What is PID?
    Proportional
    Integral
    Derivative
    based on error distance
    based on error accumulation
    based on error change rate
    „present“
    „future“
    „past“

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  163. 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

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  164. 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

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  165. 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

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  166. What is PID?

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  167. But there is MORE!

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  168. But there is MORE!
    The „software“ part Neural Networks
    ROS odometry voice recognition
    vision processing
    SLAM planning
    remote AI movement

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  169. #Rowee is Open Source
    https://github.com/Juicymo/iot-rowee

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  170. Excelsior!
    Now
    You
    Can
    Build
    Your Own
    Robot!

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  171. Tomáš Jukin
    CTO at Juicymo
    @Inza
    /in/tomas.jukin
    @JuicymoEN
    /in/juicymo
    @tomas.jukin @JuicymoEN

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