IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.
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Transcript of IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.
![Page 1: IN THE NAME OF GOD. IMMORTALS ETDP PRESENTATION OUTLINE Hardware Software.](https://reader036.fdocument.pub/reader036/viewer/2022062315/5697c00a1a28abf838cc7eed/html5/thumbnails/1.jpg)
IN THE NAME OF GOD
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IMMORTALS ETDP PRESENTATION
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OUTLINE
• Hardware
• Software
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HARDWARE
• Gyro
• Transmitter
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GYRO
• Outputs angular velocity!
• Angle Prediction
• Vision Latency
• No Vision Condition
• Delta Margin Shooting
• Global Command
• Outer PID loop on ω
Vy
Vx
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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
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SOFTWARE
• Performance bottleneck in SSL!
• SSL started in 1997
• Pentium CPUs back then
• Now in 2012 we have Core-i7!
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SOFTWARE• Memory performance is the new bottleneck
• A read from memory takes ~600 cycles at 3.2 GHz!
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SOFTWARE• Data oriented design• Its about shifting focus to how data is read and
written
• We know our data in SSL
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SOFTWARE• Data Oriented Design in SSL
• OOP example
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SOFTWARE• Data Oriented Design in SSL
• DOD example
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SOFTWARE• GPU Computing
• Field evaluations
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SOFTWARE• GPU Computing
• Safety evaluation
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RESULT• Running AI and vision filtering in ~0.2 ms on laptop
• Makes possibility for doing more AI things
• No more carrying heavy PCs!
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SOFTWARE• SB RRT
• Biasing the tree to safer areas
• Being used since 2010
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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
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SOFTWARE• Using ANN to remove some obstacles
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SOFTWARE• Prediction
• Removing latency
• Forward prediction in no vision condition
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Questions?
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Thank You