It All Started with LEGO!
LEGO MINDSTORMS NXT
LEGO®
LEGO MINDSTORMS EV3
LEGO®
Visual Programming
NXT-G
LEGO®
Open Software
Open Hardware
Bicycle
Razyeh Mousavi
Ballbot
Ball on Plate
LEGO MINDSTORMS
It was very exciting at first but I had more than 40 students and only 3 sets of LEGO Mindstorms!
Amazing Journey
We realized that before making the robot, there were a lot of things that we needed to learn.
Operating System
Virtual Robot
3D Animation
Controller Design
How About a Virtual LEGO Set?
- This virtual robot is interesting but what if I want to build another robot?
- How hard is it to build a virtual robot?
Causal Modeling
- Writing the dynamic equations
- Converting the equations to ordinary differential equations
- Creating a signal flow model e.g. a Simulink model
- Building a virtual robot seems to be different from building a real robot
Virtual LEGO Set
What if we had a set of virtual LEGO parts and we could build a robot with them?
Virtual LEGO Set
We made one!
Alborz Gharraee
Modelica and MapleSim
- The connections between components are physical connections like position, voltage, flow,...
- Acausal modeling is very similar to building a real system
Electrical Systems
Mechanical Systems
Hydraulic Systems
Thermal Systems
Chemical Systems
Acausal Modeling with MapleSim
Functional Mockup Interface
- Model Exchange, Co-Simulation, Product Lifecycle Management
- There are over 35 Tools supporting FMI
Courtesy of ITAE
What is ROS?
- a set of software libraries and tools
- from drivers to state-of-the-art algorithms
- powerful developer tools
- open source.
TurtleBot
ROS 101
ROS 101
OpenCV
OpenCV
motion, line, face, feature detection
Depth Estimation with OpenCV
src
Gesture Detection with OpenCV
src
CloudSim