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LabVIEW Robotics Starter Kit (DaNI)

Lab Exercises

Dr. James Conrad

John Wilkes

Outline

Course Information
Lab Development and Materials
Lab Descriptions and Demonstrations
Results and DaNI model Comparison
Conclusion

UNC Charlotte Intro to Robotics Course

Senior/Graduate level.
Prerequisite: Programming course, Senior standing.
Currently only offered in the summer.
Program a modern microcontroller using LabVIEW
and operate its peripheral devices.
Book: Autonomous Mobile Robots by Roland
Siegwart, second edition, 2011.

UNC Charlotte Robotics Course (Cont).

Identify general concepts of Systems Engineering.
Identify sensors and integrate them in a robot.
Design motion sub-systems (DC motors, servos,
steppers, linear actuators) and identify how they
would be integrated in a robot.
Design a motion trajectory planning algorithm and
implement it in a robot.
Hands-on labs a major part of course.
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Development of Labs Senior Design

Original labs developed as a UNCC sponsored
senior design project
Team of 3 Computer Engineering students
Labs developed over 2 semesters
Deliverables: Labs, tutorials, solutions
Sr. Design requires extensive project
management and reporting documentation
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Development of Labs, Additional Materials

Sensors
Accelerometer: ADXL 320
Infrared: Sharp GP2Y0A21YK

Sensor Bracket / Extender

Wiring

Materials Available to Instructors

Lab Assignments

Gives background information and requirements for

the labs

Lab tutorials

Step-by-step instructions for completing labs

Solutions

LabVIEW VI files

Lab 1 Intro. to LabVIEW Robotics

Introduction / Tutorial packet ships with the DaNI
robotic platform
Basic tutorial for creating a LabVIEW robotics
project
Hardware setup and configuration

Tests motors and ultrasonic sensor

Lab 2 Motor Control

Teaches basic concepts of locomotion using a
wheeled robotic platform
Goal Robot will traverse a 2x2 Meter square
2 Meters

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Lab 2 Demonstration
Live demonstration
Student video

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Lab 3 Edge Detection

Teaches concepts of hierarchy
Adding sensors to DaNI
Analog Voltage (Vo)

Sharp GP2Y0A21YK
Infrared Sensor

Distance (cm)

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Lab 3 - Demonstration

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Lab 4 - Accelerometers
Teaches the use of an accelerometer with a
robotic platform
Accelerometer used as a tilt detector

ADXL 320

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Lab 4 Demonstration

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Lab 5 A* Path Planning

Teaches integration of a completed algorithm
with the DaNI robotic platform
Requires a mastery of basic motor control
Utilizes multiple sub VIs
2D Arrays

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Lab 5 A* Path Planning

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Lab 6 Obstacle Course

Students must use DaNI, along with any sensors
of their choosing to navigate an obstacle course
Student Examples:
Modified A*

Measurement

Sub VIs

Sensors

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Lab 6 Demonstration Using A*

DaNI 1.1 video
DaNI 2.0 video

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Student Reception to LabVIEW

Previous courses had a strong embedded
development component (design complete
subsystems)
Students were at first enthusiastic about learning
LabVIEW
Learning curve was steep for a 10-week course
DaNI 1.1 FPGA compile times (up to 25 minutes)
too long for rapid prototyping
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DaNI 1.1 vs. DaNI 2.0

DaNI 1.1

DaNI 2.0

Gears

4 wheels

sbRIO-9631

LabVIEW 2009

Direct Drive

3 wheels

sbRIO-9632

LabVIEW 2011

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Labs in Development
Vision Acquisition
Axis network camera is used
to track another robot using
color detection

Will follow another robot in
a convoy like fashion

Axis M1011 Network Camera

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Conclusion
LabVIEW Platform provides a good environment for
rapid implementation
Student reception has been guarded
LabVIEW learning curve is a bit overwhelming for some

DaNI 1.1 vehicle not ideal

DaNI 1.1 FPGA compile times too long

DaNI 2.0 vehicle and development environment

provides an excellent platform for course.
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Contact Info
James M. Conrad
Associate Professor
Dept. of Electrical and
Computer Engineering
UNC-Charlotte
9201 University city Boulevard
Charlotte, NC 28223
jmconrad@uncc.edu*
http://www.ece.uncc.edu/~jmconrad
Phone: 704-687-8597
Fax: 704-687-4762
* Preferred method of contact

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