1 / 11

Sensor Fusion Workshop: Mastering Data Interpretation & Reactivity for Robotics

Join Erik A. Cokely to learn sensor selection, data collection, interpretation, and reaction techniques for robotics. Gain practical insights on sensor technology and programming methods. Interactive workshop format with real-world examples.

qamra
Download Presentation

Sensor Fusion Workshop: Mastering Data Interpretation & Reactivity for Robotics

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Programming WorkshopMaking Sense of Sensors FIRST 2008 Erik A. Cokeley - 2008

  2. Presenter • Erik A. Cokeley • Involved in FIRST for 11 years • Mentor - Hightstown High School - Team 1089 • NJIT - Junior • Computer Science Major • Experienced with the Microchip PIC • Autonomous robots • Program in C, C++, Assembly, Java • Familiar with the FIRST Default Code • Co-Founder CB Thinkx LLC Erik A. Cokeley - 2008

  3. Review the Default Design Sensor Selection Collecting Sensor Data Interpreting Data React! Some examples Questions Workshop Outline Erik A. Cokeley - 2008

  4. Design Flow • Competition Mode • Autonomous Mode • 26.2 ms Erik A. Cokeley - 2008

  5. Sensor Selection • Identify the problem • What information do we need • How do we gather that information • More than one sensor might be needed • How to select sensor • Make sure it reads what you want… • Compatible with your machine • Accuracy & Repeatability Erik A. Cokeley - 2008

  6. Collecting Sensor Data • Read the documentation. • No two sensors work exactly the same • Test your sensor • Only use the sensor if it still helps • Poll or Interrupt Models • Sampling Rate & Precision • Processing Time/Storage Requirements Erik A. Cokeley - 2008

  7. Interpreting Data • Aggregation • Multiple Sensors • Over Time • Running Total • Running Average • Correlation • Give the data meaning and purpose • Data Issues • Noise Margin • Estimation/Linearization • Dead Zones • Programming Issues • Overflow • Hysteresis Erik A. Cokeley - 2008

  8. React! • State Machine • Where to React • Reaction time • Priority • Sensor Priority • Man vs. Machine • Machine Functionality • Saving resources (battery) • Control the Robot Erik A. Cokeley - 2008

  9. An Example • Time for some code! Erik A. Cokeley - 2008

  10. Questions? Erik A. Cokeley - 2008

  11. For More Info • Erik Cokeley – FirstJerseyKid@comcast.net • www.cbthinkx.com/first/frc Erik A. Cokeley - 2008

More Related