1. Creating Robotic Platforms
Michael North, PE

2. Creating Robotic Platforms
Autonomous machines of any kind are difficult to build
Mechanical – Servos, motors...
Electrical – Wiring, sensors, controllers, etc

3. Creating Robotic Platforms
Autonomous machines of any kind are difficult to build
Mechanical – Servos, motors,
Electrical – Wiring, sensors,
…....Just add Software to make it all better

4. Creating Robotic Platforms (examples)
NCSU Truck¹
2 years, ~35-40 people
¹Let's not be hasty at calling this a platform

5. Creating Robotic Platforms (examples)
The Gardeneer
10 months, 2 people

6. Creating Robotic Platforms (examples)
Prototype Line PaintBot
7 months (and counting), 1.5 people

7. Creating Robotic Platforms How did these all happen?
Every major release was tested and verified
Functions/methods for inputs and outputs
Sensors for validated measurements
Calibrations/calibration technique always reviewed
Testing Harnesses
Created by one person, used by the other

8. Sensors This is a large universe, request catalogs... now! Cameras
Infrared
Sonar
Limit switches
Shaft encoders
Accelerometers
Gyroscopes
Digital compass
Strain gauges
Light sensors
Thermistors
Laser Ranging
Sensor interfaces can be digital, analog, I2C, SPI, CAN
Your computer controller must support the interface
This is a large universe, request catalogs... now!

9. Operating Systems (not the important decision you'll make)
Player/Stage
Robot Operating System (ROS)
(CAN Bus support!)
Orocos
Rock Robotics
JAUS Joint Architecture for Unmanned Systems
Arduinos
Ser2net exports serial interface from Arduino to network connection
Leverage Arduino ecosystem for motor controllers and sensors
LiTMUS -- You guys know all about this one….
I have it running on a DJI F550 drone I modified last year
Also ran a device monitoring system for a High Altitude Balloon we launched last summer -- most reliable part of the software subsystem.
QNX

10. Development Boards x86 and ARM boards are easy to find BeagleBone
Minnowboard
Raspberry Pi 2
iCreate 2 (iRobot)
nVidia Jetson TK1 Embedded Development Board
The only board on the market with enough horsepower to object detection algorithms and a terrain mapping application simultaneously