Top Banner
IN THE NAME OF GOD
20

IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

Jan 21, 2016

Download

Documents

Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Page 1: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

IN THE NAME OF GOD

Page 2: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

IMMORTALS ETDP PRESENTATION

Page 3: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

OUTLINE

• Hardware

• Software

Page 4: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

HARDWARE

• Gyro

• Transmitter

Page 5: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

GYRO

• Outputs angular velocity!

• Angle Prediction

• Vision Latency

• No Vision Condition

• Delta Margin Shooting

• Global Command

• Outer PID loop on ω

Vy

Vx

Page 6: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

WIRELESS

• Network interface for robot communication

• Receives commands over UDP

• Sends back robot feedback to the IP that requested the feedback

• Multiple's AI computers

• Calculates data loss

• Used in AI for detecting interference

Page 7: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE

• Performance bottleneck in SSL!

• SSL started in 1997

• Pentium CPUs back then

• Now in 2012 we have Core-i7!

Page 8: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Memory performance is the new bottleneck

• A read from memory takes ~600 cycles at 3.2 GHz!

Page 9: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Data oriented design• Its about shifting focus to how data is read and

written

• We know our data in SSL

Page 10: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Data Oriented Design in SSL

• OOP example

Page 11: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Data Oriented Design in SSL

• DOD example

Page 12: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• GPU Computing

• Field evaluations

Page 13: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• GPU Computing

• Safety evaluation

Page 14: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

RESULT• Running AI and vision filtering in ~0.2 ms on laptop

• Makes possibility for doing more AI things

• No more carrying heavy PCs!

Page 15: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• SB RRT

• Biasing the tree to safer areas

• Being used since 2010

Page 16: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Performance bottleneck

• Not in the SSL

• SSL is just a test bed for SB-RRT

• Computation time increases linearly with the number of obstacles

Page 17: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Using ANN to remove some obstacles

Page 18: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

SOFTWARE• Prediction

• Removing latency

• Forward prediction in no vision condition

Page 19: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

Questions?

Page 20: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.

Thank You