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Cutting-edge Immortals: ETDP Presentation Outline

Explore Hardware like Gyro & Transmitter Outputs, Vision Latency, Delta Margin Shooting; Software covers SSL Performance, Data Oriented Design, GPU Computing, SB-RRT usage since 2010. Learn about AI, obstacle removal, and latency prediction!

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Cutting-edge Immortals: ETDP Presentation Outline

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Presentation Transcript

  1. In the name of god

  2. Immortals ETDP Presentation

  3. outline • Hardware • Software

  4. Hardware • Gyro • Transmitter

  5. Gyro • Outputs angular velocity! • Angle Prediction • Vision Latency • No Vision Condition • Delta Margin Shooting • Global Command • Outer PID loop on ω Vy Vx

  6. 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

  7. software • Performance bottleneck in SSL! • SSL started in 1997 • Pentium CPUs back then • Now in 2012 we have Core-i7!

  8. software • Memory performance is the new bottleneck • A read from memory takes ~600 cycles at 3.2 GHz!

  9. software • Data oriented design • Its about shifting focus to how data is read and written • We know our data in SSL

  10. software • Data Oriented Design in SSL • OOP example

  11. software • Data Oriented Design in SSL • DOD example

  12. software • GPU Computing • Field evaluations

  13. software • GPU Computing • Safety evaluation

  14. Result • Running AI and vision filtering in ~0.2 ms on laptop • Makes possibility for doing more AI things • No more carrying heavy PCs!

  15. Software • SB RRT • Biasing the tree to safer areas • Being used since 2010

  16. 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

  17. Software • Using ANN to remove some obstacles

  18. software • Prediction • Removing latency • Forward prediction in no vision condition

  19. Questions?

  20. Thank You

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