Commit 4b62faa1 authored by Gökçe Aydos's avatar Gökçe Aydos 🌈
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introduction slides

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PROJECT ?= $(basename $(firstword $(wildcard *.rst)))
REPO_ROOT_PATH ?= ..
MAKEFILE_LIBRARY_DIR ?= $(REPO_ROOT_PATH)/library
FOOTER ?= $(MAKEFILE_LIBRARY_DIR)/include-license-on-all-slides.html
include $(MAKEFILE_LIBRARY_DIR)/revealjs.mk
include $(MAKEFILE_LIBRARY_DIR)/backup.mk
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==============================================
Case Studies Coop&Auton. Sys. + Mech-Sys. Sim.
==============================================
:author: `Gökçe Aydos`_
:date: version 2019-10-17
.. _`Gökçe Aydos`: mailto:goekce.aydos@th-deg.de
Preamble
========
Contact
-------
- `goekce.aydos@th-deg.de`__
- appointments per mail
__ mailto:goekce.aydos@th-deg.de
Bio
---
- 🎓 computer engineering — *RWTH Aachen*
- 💼 positron emission tomography - *Philips Aachen*
- 🛰️ satellite computer — *DLR Bremen*
- 👽 fault-tolerance for digital circuits - *Uni Bremen*
- 🛡️ embedded systems security — *Siemens Munich*
- 🏗️ building a startup — `Entrepreneur First`__ *Berlin*
.. __: https://www.joinef.com/
Course sites
------------
- iLearn_ contains course info and materials:
- direct link: https://aydos.de/cas
- **no password** required
.. _iLearn: https://ilearn.th-deg.de
iLearn - access
---------------
- to *enroll* for a course you need to login
- *enrollment* allows the instructor to send you updates about the course
- some of the courses allow *guest access*
- this means you do not have to login to access course info and materials
- you can access this course also as a guest
Feedback
--------
- what is your background / strength?
- what do you expect from this course?
`aydos.de/cas`_
This Course
===========
Theme
-----
- *Future Mobility*
- how will the car mobility in the future look like?
- example
- `EO - the smart connecting car`__ by DFKI
__ https://robotik.dfki-bremen.de/en/research/robot-systems/eo-smart-connecting-1.html
.. class:: notes
- according to https://ieeexplore.ieee.org/abstract/document/6347720 EO is latin for "to there"
- traffic in the cities will hopefully solved by cycles
https://twitter.com/fietsprofessor/status/1181829303941636097
Aspects
-------
- cooperative
- multiple systems collaborate to fulfill a task
- autonomous
- a system can decide without any human intervention
- simulation
- imitation of a mechatronic system
Autonomous System Example
-------------------------
.. image:: satellite.png
:class: plain
:width: 450
:alt: https://commons.wikimedia.org/wiki/File:Satellite_Cylinder_(PSF).png
PearsonPearson Scott Foresman [Public domain]
Simulation goals
----------------
- find out the potential outcome
- analyze parts of a system
- find optimal parameters
Simulation Example
------------------
.. image:: robot-simulation.png
:class: plain
:width: 450
:alt: https://upload.wikimedia.org/wikipedia/commons/f/f7/Robot_measurement.png
English Wikipedia user L. Beyer [`CC BY-SA 3.0`_]
Other Course Goals
------------------
- independently realizing a project
- group work
- project- and time-management
- e.g., selecting a project manager
Project Areas
-------------
- small car platform using `Zumo Robot`_
- pure literature research regarding future mobility
- autonomous driving platform
- `ADAS model car`__
__ https://www.digitalwerk.net/adas-modellauto/
.. _`Zumo Robot`: https://www.pololu.com/category/129/zumo-robots-and-accessories
Project Areas II
----------------
- you can also propose other topics
- single topic for multiple groups possible
ADAS Car
--------
.. image:: adtf-car1.jpg
:class: plain
:width: 450
Gökçe Aydos [`CC BY 4.0`_]
ADAS Car - Internals
--------------------
.. image:: adtf-car2.jpg
:class: plain
:width: 450
Gökçe Aydos [`CC BY 4.0`_]
ADAS Car - Ultrasound
---------------------
.. image:: adtf-car3.jpg
:class: plain
:width: 450
Gökçe Aydos [`CC BY 4.0`_]
Project ideas
-------------
- sensor data analysis
- `SLAM`__
- trim or chassis design
- road design for autonomous cars
- `car simulation`__
__ https://www.youtube.com/watch?v=SeNLUW79_-c
__ https://vimeo.com/223812225
Useful Tools
============
Sensors
-------
- ultrasonic sensors
- light detection and ranging (`lidar`_)
- wheel encoder
- GPS
- camera
Car-to-car communication
------------------------
- how can we leverage car-to-car communication?
Camera platforms
----------------
- Pixy Camera
- JeVois Camera
- artificial intelligence platform for object recognition
- `Coral AI accelerator` + Raspi 4 + Camera
__ https://coral.withgoogle.com/products/accelerator
Project Management
------------------
- `nextcloud @ THD`__
- `gitlab @ THD`__
- you are free to use other tools
__ https://nextcloud.th-deg.de
__ https://mygit.th-deg.de
Math and Modeling
-----------------
- `SageMath`__
- `WolframAlpha`__
- `Scilab`__
- includes MATLAB-like system diagram builder
- includes `a library for Arduino`__
- `GNU Octave`__
- `PtolemyII`_ for hetoregenous simulations
__ https://www.sagemath.org/
__ https://www.wolframalpha.com
__ https://www.scilab.org/
__ http://www.demosciences.fr/projets/scilab-arduino
__ https://www.gnu.org/software/octave/
.. _`PtolemyII`: https://ptolemy.berkeley.edu/
Simulation
----------
- `Gazebo`__ robot simulation
__ http://gazebosim.org
Project Milestones
==================
Literature Research
-------------------
- chosen a group (and subject) *this week*
- written the general structure of the report *43th week*
- written the schedule for the next weeks *44th week*
- written the report *2nd week*
- presented (oral and slideshow) the results *3&4th week*
Practical
---------
- chosen a group (and subject) *this week*
- written the schedule for the next weeks *43th week*
- written the general structure of the report *50th week*
- written the report *2nd week*
- presented (oral and slideshow) the results and demonstrated the project *3&4th week*
Next weeks
----------
- presence is not obligatory
- I will be here to assist your groups
ADAS Car Projects
=================
Simulation in ROS
-----------------
- cat kinematics
- describing the motion of the wheel axes, body
- integrating sensor data, e.g.,
- wheel odometry sensors
- ultrasonic sensors
- microphone
Modeling the Car Dynamics
-------------------------
- creating a model of the motor
- creating an optimal controller algorithm for the motor
Lidar data analysis
-------------------
- `lidar`_
- object detection / recognition
- object tracking
.. _`lidar`: https://en.wikipedia.org/wiki/Lidar
Mapping
-------
- transforming the camera data into a bird's eye view
- programming a co-pilot
Car body design
---------------
- reinforcement of crash zones
- should include a bumper
- a light and convenient body for experiments
Finding Project Groups
======================
Poll
----
- would you like to work
- in which field?
- in which project area?
`aydos.de/cas`_
Today's Goal
------------
- find a group
- optional: discuss and find a subject
Conclusion
==========
Feedback
--------
- 📢 please give feedback at the end of each weekly course
- `aydos.de/cas`_
.. _`aydos.de/cas`: https://aydos.de/cas
.. _`CC BY-SA 3.0`: http://creativecommons.org/licenses/by-sa/3.0/
.. _`CC BY 4.0`: https://creativecommons.org/licenses/by/4.0/
# VAULT_PATH is the location where your project will be copied to
.PHONY: backup
VAULT_PATH ?= /cloud/backups
DIR_TO_BACKUP ?= $(notdir $(PWD))
backup: $(DIR_TO_BACKUP)-backup-$(shell date -I).tar.zst
$(DIR_TO_BACKUP)-backup-$(shell date -I).tar.zst:
tar caf /tmp/$@ -C .. $(DIR_TO_BACKUP)
mv /tmp/$@ $(VAULT_PATH)
<style type="text/css">
/* 1. Style header/footer <div> so they are positioned as desired. */
#header-left {
position: absolute;
top: 0%;
left: 0%;
}
#header-right {
position: absolute;
top: 0%;
right: 0%;
}
#footer-left {
position: absolute;
bottom: 0%;
left: 0%;
}
</style>
<!-- 2. Create hidden header/footer <div> -->
<div id="hidden" style="display:none;">
<div id="header">
<!-- <div id="header-left">HEADER-LEFT </div> -->
<!-- <div id="header-right">HEADER-RIGHT</div> -->
<div id="footer-left">
<a rel="license" href="http://creativecommons.org/licenses/by/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by/4.0/88x31.png" /></a><br /><font size="2"><span xmlns:dct="http://purl.org/dc/terms/" href="http://purl.org/dc/dcmitype/Text" property="dct:title" rel="dct:type">Introduction to Informatics</span> by <a xmlns:cc="http://creativecommons.org/ns#" href="https://aydos.de" property="cc:attributionName" rel="cc:attributionURL">Gökçe Aydos</a> is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by/4.0/">Creative Commons Attribution 4.0 International License</a>.</font>
</div>
</div>
</div>
</div>
<script src="https://code.jquery.com/jquery-2.2.4.min.js"></script>
<script type="text/javascript">
// 3. On Reveal.js ready event, copy header/footer <div> into each `.slide-background` <div>
var header = $('#header').html();
if ( window.location.search.match( /print-pdf/gi ) ) {
Reveal.addEventListener( 'ready', function( event ) {
$('.slide-background').append(header);
});
}
else {
$('div.reveal').append(header);
}
</script>
# Makes reveal.js slideshow from .rst
# project name $(PRJ).rst
PROJECT ?= slides
IMG_DIR ?= img
FOOTER ?= footer.html
USE_OFFLINE_REVEALJS ?=
##############################################################################
.DEFAULT_GOAL := $(PROJECT).html
REVEALJS_VERSION := 3.8.0
REVEALJS_DIR = reveal.js-$(REVEALJS_VERSION)/
REVEALJS_ARCHIVE = reveal.js-$(REVEALJS_VERSION).tar.gz
ifdef USE_OFFLINE_REVEALJS
REVEALJS_URL := $(REVEALJS_DIR)
SLIDE_OPTIONAL_INGREDIENTS += $(REVEALJS_DIR)
else
REVEALJS_URL := https://revealjs.com
endif
IMGS := $(wildcard $(IMG_DIR)/*)
show: $(PROJECT).html
xdg-open $<
%.html: %.rst \
$(IMGS) \
$(SLIDE_OPTIONAL_INGREDIENTS)
pandoc \
--from rst \
--to revealjs \
--variable=theme="white" \
--variable=revealjs-url:$(REVEALJS_URL) \
--self-contained \
--include-after-body=$(FOOTER) \
--resource-path=$(IMG_DIR) \
$< > $@
#--variable=previewLinks:true \
#--variable=revealjs-url:reveal.js-$(REVEALJS_VERSION) \
#--variable=slideNumber:true \
#--variable=preloadIframes:true \
$(IMGS):
$(MAKE) -C $(IMG_DIR) $(notdir $@)
$(REVEALJS_DIR): $(REVEALJS_ARCHIVE)
tar xf $<
%/: %.zip
unzip -d $@ $<
$(REVEALJS_ARCHIVE):
curl --location https://github.com/hakimel/reveal.js/archive/$(REVEALJS_VERSION).tar.gz -o $@
clean:
$(RM) $(PROJECT).html
$(RM) -r $(REVEALJS_DIR)
$(RM) $(REVEALJS_ARCHIVE)
ifdef DEBUG
$(info $(SLIDE_OPTIONAL_INGREDIENTS))
$(info $(REVEALJS_DIR))
$(info $(REVEALJS_ARCHIVE))
endif
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