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