MOCAP, TRUCKS AND VISUALIZATION TOOL USER`S MANUAL
Contents
1. Remove Body Load Bodies Figure 3 3 The New Body 6 appeared on the page e Step 4 After deleting all the markers from the list you should have just 4 markers in order to define a truck as a 6DOF Rigid Body Now you should rename the New Body to a logical name like Truck Grey and you must renumber all the markers acquired from 1 to N where N is the number of markers of the new Rigid Body you want to define If you want you can also change the color that the Rigid Body will assume when recognized All settings system setup o T era system r 6DOF Tracker Parameters Connection Bone Length Tolerance 10 mm Linearization 4 Calibration B Timing Y Calculate missing markers in rigid bodies i H Camera settings Analog boards Video devices B Processing Do not require that the whole body is visible before idenditfying it the first time Rigid Bodies i 3D Tracking G Twin System Trajectories E AIM 6DOF Tracking Force data i RT output TSV export i C3D export Matlab file export H DIFF export E GUI 2D view settings Ei 3D view settings Folder options TruckBlackB TruckBlue TruckBlack TruckRed QuadM New Body 6 New Body 1260 10 1191 26 1182 85 1309 42 X Color Y Data origin Z Data orientation Virtual Global orientation Gl2. 2 1 T MOTES SET UP It is very important that you pay a lot of attention when doing serial forward of a T Mote in order to be able to communicate correctly with a truck A T Mote connected to the PC has a unique pair connected to a truck The T Motes used so far for that purpose are all labeled with lt COLOR gt PC lt ID gt and TRUCK lt COLOR gt lt ID gt where lt COLOR gt is the color of the truck and the lt ID gt is the communication ID of the truck The communication ID has to be inputed in the LabVIEW program see Chapter 5 If you receive messages like Note write failed see Figure 2 7 or unix_error see Figure 2 6 try to kill the serial forward with CTRL C inside of the Cygwin terminal and restart the serial forward again If it still doesn t work try to disconnect and connect the corresponding T Mote and restart the serial forward Restart the PC if nothing else works Always check if the IDs and COM ports you inserted in the LabVIEW program correspond to the T Motes you are using Figure 2 6 sf unix error example Figure 2 7 sf Note write failed example If everything is okay you should see the T Motes leds blinking stressfully when you try to transmit something through them It is not the same thing as the radio channel number 2 2 TRUCKS SET UP 2 2 Trucks Set Up The truck connections are exemplified in figure 2 8 and 2 9 Figure 2 9 Detailed connections betwee
3. MATLAB We are not completely sure about the source of the problem nevertheless this issue can be solved with a simple restart of the Visualization Tool You still can t get everything to work Please don t hesitate to contact us pfrdal kth se and jpfa kth se 40 Bibliography 1 Qualysis AB QTM Getting Started 2011 2 Qualysis AB QUALISYS MATLAB CLIENT v1 8 2011 3 Qualysis AB QTM User Manual 2011 4 J P Alvito Implementation of traffic control with heavy duty vehicle anti platooning Master s thesis KTH The Royal Institute of Technology 2013 5 M Amoozadeh Smart Mobility Lab Manual 2013 6 A Hauksson B Mengana C Westermark F Svensson J Lycke J Sundberg K Imhauser and S van de Hoef Final report in automatic control project course Technical report KTH The Royal Institute of Technology December 2012 7 A Hernandez and D Huertas Peres Communication between pc and motes is tiny os Technical report KTH The Royal Institute of Technology may 2012 8 P Lima Implementation and analysis of platoon catch up scenarios for heavy duty vehicles Master s thesis KTH The Royal Institute of Technology 2013 41 42 BIBLIOGRAPHY
4. WP m Road y Length Road y WP 25 5 2 PROGRAM STRUCTURE e 3 The QTM connection is done in an infinite while loop in order to provide the latest value possible e 4 a The trucks poses are fetched using the method presented in a LabVIEW demo that is in stalled along with the LabVIEW QTM Plugin Nevertheless we have changed the block Q6D Euler vi The following changes were made Figure 5 4 Q6D Euler vi modification step 2 Figure 5 3 Q6D Euler vi modification step 1 These modifications allow the Q6D Euler vi to output an array with the coordinates z and y in meters instead of millimeters and the orientation yaw in degrees The figure 5 4 corresponds to the subvi block in figure 5 3 e 4 b Whenever a scenario is selected to run a MathScript will evaluate and change the control variables in order to run a user defined scenario e 4 c The decision maker is the brain of the trucks lt decides the trajectory waypoint to follow the reference speed changes and the state transitions In this case each state is a road lane We have an Outer Lane state 1 an Inner Lane state 2 and an Inner Road state 3 It is only allowed to transition between the states 2 and 3 e 4 d The overtaking decision maker does nothing more often than not When the platoon master is changed and that truck was already in a platoon the new master will overtake in order to go to the front of the platoon The overtaking decision maker decides w
5. running the file trajectory m that will start the acquisition process In case you already have a configuration file in the same folder you are running the trajectory m file the program will use that file otherwise the configuration file generator will start and allow you to create a new one This file will be used as the configuration file to the acquisition process If the communication is started successfully it should appear something similar to Figure 4 5 gt trajectory Qualisys MATLAB client v1 8 Connecting to 130 237 43 50 on port 22222 Active data 3DnoLabels Figure 4 5 Example of a MATLAB Client communication After that something similar to Figure 4 6 should appear File Edit View Insert Tools Desktop Window Help UH k aseda a DUE m Figure 4 6 Example of points acquired for one lane Here you are asked to choose the first two points of the trajectory This is done with the function ginput of MATLAB so to choose the points you just nee to click twice once for each point somewhere close to the desired points We need to choose two points because at this point we are stipulating the direction of the lane Since the LabVIEW program makes the truck follow the trajectory sequentially it is important to choose beforehand the direction of the trajectory 20 4 2 TRAJECTORY CREATION File Edit View Insert Tools Desktop Window Help Odds 2R 8 892984 2 0EJ am Figure 4 7 Final trajectory gene
6. you the trucks are behaving as they supposed to please go through the following checklist Check if the batteries are charged Check if all the Polulu boards have a yellow led on see Chapter 2 Check for any Note write failed or unix error in the Cygwin terminal see Chapter 2 Check all the ID Port and QTM ID in the panel 4 see Section 5 3 Check the IP address of the QTM computer Check if the value sent for Speed and Steering in bits present in panel 1 are different from 127 see Section 5 3 Check if the PC s T Motes are blinking meaning that they are communicating see Chapter 2 Check if the trucks T Motes are blincking as well see Chapter 2 Check if the truck motors are On see Chapter 2 Check if the trucks are being recognized by the MoCap see Chapter 3 Check if the trucks are initially positioned as they should see Section 5 3 Check if there s any commented block 39 7 2 TRAJECTORY CREATION 7 2 Trajectory Creation One problem that might arise in the trajectory creation is a message saying No Welcome Message Received This happens when the program is trying to connect to the Qualysis system and it receives an error probably due to a last connection that wasn t closed The most effective solution that we found was restating MATLAB 7 3 Visualization Tool When using the Visualization Tool sometimes you might get some error when receiving the data from the road network in
7. E La KTH NG VETENSKAP S 99 OCH KONST SE no NG ALI KTH Electrical Engineering Pedro Lima Joao Pedro Alvito pfrdal kth se jpfa kth se MOCAP TRUCKS AND VISUALIZATION TOOL USER S MANUAL Stockholm 2013 Smart Mobility Lab Automatic Control Department Kungliga Tekniska Hogskolan IR EE Dummy 2000 099 Contents LISKOL IGU ES iii AAA aa AAA 1 System Overview 1 1 Key Feat reS s a Gp gh cao cay A al a a A a 12 WOIE WE caia al ehh ae Be As a o aia Mowi wii 2 Getting Started with the Tamiya Trucks 2 1 T Motes setup 4 s o odo dd dl E dle ia al i MMA a dd 22 TUCKS Sel UNS 5 da do d A Gan ia bbe gl he da bee 3 Getting Started with QTM 3 1 How to Define a truck as a 6DOF Body e 4 Trajectory Creation With Matlab Aa FICFEQGUISIIES wa e 4 ia a e Gie RW AR 4 1 1 Matlab Qualysis Client e 4 1 2 Configuration File A 4 2 Trajecioly CrealiON a a deea an bo e S a bo heh SSS EE ote ee 5 Getting Started with the LabVIEW Program deh MIETEQUISINOS ss ABA Hone eno di MA eee eR a 5 2 PIOJIEMSUUCHUE em e so dd neo de ree e Be HE GZW E Ad 5 3 Running the LabVIEW program aca cad da de A ee A KAMAG WAWALA 6 Getting Started With The Visualization Tool bil PICIEGUSNES 5 2 ml ach A eee REUSE e a E e ee al a owe MB 6 2 Running The Visualization Tool o a 63 Visualization TOO sa aaa e A Bot kk Se Be ane eS 7 T
8. Pedro Lima 2 e 35 Visualization Tool Joao Pedro Alvito AA 35 Chapter 1 System Overview A block diagram of the system structure can be seen in Figure 1 1 Road Network Visualization c2 PC LabVIEW PC TCP QTM PC Figure 1 1 Program structure block diagram The overall system is supposed to represent a real world system in small scale in which the cam eras C1 C2 C12 simulate the GPS system the LabVIEW PC simulates an onboard computer responsible for the decision making of the truck and naturally the scale trucks represent the real trucks The T Motes exist in order to make possible the communication between the PC and the trucks Moreover the QTM PC is the server that provides the trucks localization retrieved by the cameras Finally the Visualization PC is used for demonstration purposes This system was developed in the first semester of 2013 in the Smart Mobility Lab of the Auto matic Control Department in KTH in Stockholm under the supervision of Jonas Martensson and Karl Henrik Johansson It is the kernel of two masters thesis since it is the test bed for the experiments reported on them see 8 and 4 1 1 KEY FEATURES 1 1 Key Features With the set of programs developed the user is able to e Use the IR markers to create a set of waypoints that possibly represents a trajectory then ac quires those points and the correspondent interpolated trajectory
9. The MATLAB Compiler Runtime MCR is a standalone set of shared libraries that enables the execution of compiled MATLAB applications or components on computers that do not have MATLAB installed When used together MATLAB MATLAB Compiler and the MCR enable you to create and distribute numerical applications or software components quickly and securely To download and install the MER 1 Click the version and platform that corresponds to the application or component you are using Mote you can find this information in the readme txt file that accompanies the application or component Release Windows Linux Mac R2013a 32 bit 64 bit 64 bit Intel 64 bit R2012b 32 bit 64 bit 64 bit Intel 64 bit R2012a 32 bit 64 bit 32 bit 64 bit Intel 64 bit 2 Save the MCR installer file on the computer on which you plan to run the application or component 3 Double click the installer and follow the instructions in the installation wizard Figure 6 1 MATLAB Compiler Runtime MCR download e The computer that runs the Visualization Tool doesn t need any special graphical capabilities Nonetheless we recommend that you use a computer with a considerable processing capa bility This is a requirement because the tool receives new data every 100ms If the computer isn t capable of processing the data and display it in that time window at some point it will start processing data that is not updated This can be seen by a delay between what you see in
10. Visualization Tool Joao Pedro Alvito 35 6 3 VISUALIZATION TOOL e 1 This is most likely our most important block mainly because its the one that contains more information This is basically a transcription of the reality to our display In it you can see the current position of each truck that is visible in the Qualisys system through the small rectangular shaped trucks colored accordingly to the real trucks colors lts also possible to see how the road network looks The Visualization Tool simply receives the waypoints and processes it in order to display the several roads and its lanes in black and also the white dashed line that we usually see in real life In the lanes it is possible to display the waypoints representing them as yellow dots Additionally in the case of Figure 6 5 there are extra colored dots the white dot represents a checkpoint that is used to measure the time distance between each consecutive truck it is possible to have several checkpoints there are two dots that can be either red or green that at the same time give the position of the traffic lights of both lanes and its status either if the traffic light is green or red e 2 This block shows the real speeds of the trucks e in SI units m s To make it easier to distinguish between trucks we used a color code that translates the user to the real color of the trucks that are being used There are two fields where it is possible to get informatio
11. and outer lane So on the left side we have the traffic light information about the inner lane and on the right side there appears the same information for the outer lane These sub blocks have all the information about the traffic lights apart from its position the status of the traffic light either if it is red or green the estimated time of arrival ETA of each truck to the traffic light of the correspondent lane The time appears in a digital form minutes seconds centiseconds To improve the display we decided to order the ETAs such that the closest truck to the traffic light will always be on the top of the list 13 Here you can check which are the time distances at a given checkpoint time distance is given in seconds Note that this feature is only valuable if there is a platoon If a truck is the master the letter M will appear in the same place where it would show the time Once the master passes through the checkpoint as showed in point 1 all the other fields of the trucks that are inthe platoon are erased and updated with the time distance as soon as the respective truck goes trough 37 6 3 VISUALIZATION TOOL the same checkpoint You can use several checkpoints but for bigger Platooning Distances we recommend to use only one checkpoint Don t forget that the only values that are shown are the ones from trucks in the platoon 38 Chapter 7 Troubleshooting 7 1 Trucks If you have read all the manual and
12. d is optimised for speed and low latency Data is therefore transmitted over UDP in order to minimise transmission overheads Note that UDP is a unreliable transmission protocol meaning that packets may be lost when sent over UDP This is ok for the purposes of a control process since there is no value in receiving old data However it also means that the LabVIEW plugin may not be suited for the purposes of saving data from QTM The plugin requires a license key in QTM please contact sales qualisys com for a quote Figure 5 1 LabVIEW QTM Plugin download in the Qualisys webpage In the folder where the LabVIEW project is in there should be as well a folder with the name Road Network2011 and RoadNetwork2012 which are used inside of LabVIEW 2011 and LabVIEW 2012 respectively Inside of those there should appear several txt files that describe the road network Their creation is explained in Chapter 4 lwww ni com www kth se student support itsc progdist software for windows labview 2012 spring 1 337984 Swww qualysis com 24 5 2 PROGRAM STRUCTURE 5 2 Program Structure A block diagram representing the LabVIEW program structure is shown on figure 5 2 2 3 TCP connection creation Start QTM Initialization data send for the Visualization Tool Connection LOOP 1 4 a 4 b 4 c 4 d Serial forward connection creation Get trucks Scenarios Trucks Overtaker poses development decision decision maker Variables initial
13. e control panel of the program At first one may think that it is too much information at the same time but everything is organized and has its own logic Each part of the front panel will be explained in detail arara Ema STOP Figure 5 5 Main vi front panel e 1 This panel is mostly consisted of indicators There we can see for each truck its Real Speed Current State Current Pose z y and yaw Distance to Master Distance to Traffic Lights and the values of Speed and Steering in bits sent to the truck Each truck has an associated panel color which naturally corresponds to its real color In this panel one can select if the truck has a trailer or not which will influence the program s perception about the truck s length In order to easily tune the controllers for each truck the controller gains are available as well for each truck e 2 li the program is on the Manual Mode see point 5 you will do most of the modifications on this panel With a sliding bar you can change the Reference Speed of each truck and you can Change the State where the truck is Naturally the truck will only change its state in the transition points between the Inner Road and the Inner Lane If the program isn t on the Manual Mode you don t have to worry about this e 3 Once again if the program is on the Manual Mode see point 5 you can modify several parameters of the system These parameters are the Reference Gap Distance betw
14. een trucks when they are on a platoon formation the Speed Increment V SpeedIncrement x VMaster when the truck starts catching up the Traffic Lights Position in Outer and Inner Lanes and each Traffic Light Status The position of the traffic lights can be hard to understand and to set The values that are now set by default are waypoints of the corresponding lane In order to change these values you have to do trial and error until you find the position wanted e 4 The missusage of the control boxes on this panel can lead to a strange behavior of the 28 5 3 RUNNING THE LABVIEW PROGRAM program For each truck you can set the corresponding ID used in the T Motes communication the Port used in the T Motes serial forwarding see Chapter 2 and QTM ID which is the label of that truck on the MoCap see Chapter 3 It s also possible to see the Version of the LabVIEW where the program is running on and set the Visualization Tool On and Off If this button is set to On you must run the Visualization Tool see how to do it in Chapter 6 otherwise the LabVIEW won t run The program will not run without having the values from the MoCap so if the connection is okay you will see the Camera Timestamp increasing Always check the QTM computer IP address if you notice that the Camera Timestamp isn t changing 5 In this panel you can choose two tabs The Pedro Lima tab and the Joao Pedro Alvito tab Those are the names
15. efer to 1 and 3 for more detailed information 16 Chapter 4 Trajectory Creation With Matlab In order to move the trucks along the road network we have to create the trajectories They are composed of a sequence of points that will be followed by the trucks There are several possible ways to create the trajectory Here we are going to present the method that we used and all the steps you should take if you want to replicate it in some way 4 1 Prerequisites 4 1 1 Matlab Qualysis Client To communicate with the Qualysis system you need the MATLAB Client which you can download in the Qualysis website It will require login credentials but if you use a computer in the Smart Mobility Lab you will have the client already installed Naturally to use the MATLAB Client you need to have installed in your computer a valid MATLAB license O O O HOME PRODUCTS APPLICATIONS COMPANY SUPPORT CONTACT QUALISYS Motion Capture Systoms Logged in as KTH Control Logout Your support license expires 2015 12 31 CLIENT LOGIN g s QTM RT plugin for Matlab Simulink QTM 2 7 QVA The plugin provides an easy way to stream real O Downloads HA time data from QTM to a control process in f VISUAL3D b s Y MATLAB Client 1 8 Matlab Simulink LABVIEW Setup QTM 2 6 or MATLAB SIMULINK The Matlab plugin is available in two versions one for standard Matlab later and one for Simulink All data types in QTM are available from the MOTIONBUILDER plugins w
16. enario is meant for e 6 This shows a simple explanation of what is happening at each moment lt is an one line sentence that illustrates what might not be obvious for example it says what a truck is trying to accomplish or if some event related to a traffic light is taking place e 7 This block contains the optional choices that the user can do The waypoints option is simply a radio button that turns on or off the waypoints display in 1 This option is defaulted to be on because we believe that the waypoints appearing are a great aid to observe the trucks trajectory 36 6 3 VISUALIZATION TOOL The other option that we have available is ellipses We provide this option because the graphical roads in 1 are dynamically generated so sometimes depending on the trajectory generated the roads can be displayed in a rather strange way Since the roads that we created in the Smart Mobility Lab are shaped like ellipses we tried to process the road data that we received from the trajectory generation and adjust it to ellipses Sometimes this option improves the display of the roads but of course this is not a viable option if the road is not shaped like an ellipse so feel free to try this option and see if it improves the display of the road network that you are currently using 8 Here you can see a relative indication of the instantaneous fuel consumption It allows you to better perceive how much fuel the truc
17. er to 5 2 1 I MOTES SET UP 2 1 T Motes set up PAAD HA hn A E Serial Board T Mote Polulu Board T Mote Tamya Truck Figure 2 1 Connection between a PC and a T Mote Figure 2 2 Connection between a truck and a T courtesy of 5 Mote courtesy of 5 In order to communicate with the trucks from a PC you need to know how to use the T Motes In the project we use the serial forward tool to send data from LabVIEW to the mote attached to the PC and the Tiny OS to program them In order to learn how to install the Tiny OS and serial forward tool please refer to 7 In Windows after having the Cygwin and the serial forward tool installed you should be able to see the T Motes connected to the PC like in Figure 2 3 using the motelist command Figure 2 3 motelist command result on a Cygwin terminal The T Motes usually have its reference number for example MTF4LX0A printed on it If they don t please connect one by one to know which COM port corresponds to each them Then it is possible to start a serial forward of a specific T Mote in a specific TCP IP Port like in Figure 2 4 The port chosen has to be a suitable port that is not being used by any other device The most common ports used when serial forwarding are 9002 9003 9004 When trying to communicate if everything is okay you should start seeing something similar with Figure 2 5 Figure 2 5 sf normal execution on a Cygwin terminal
18. ered 14 3 6 3D reconstruction to the space views by the cameras The new body acquired appears Wira now Color ita a e a OP te EE MA O W a 14 3 7 Rotate body dialog aligning using its OWN points os 1 15 3 8 Rotate body dialog rotating the local coordinate system 15 3 9 Translate body dialog cume a a a Kala eras LOGA dwaj WA how wata 16 3 10 The new body is now visible with correct label and color and with the local system 16 4 1 Downloading the qualisys MATLAB Client 0 0 0 00 eee ee ee 17 4 2 Qualisys MATLAB Client installation La aaa 18 4 3 Configuration file generator software 4 1 18 4 4 Example of a configuration file AA 19 4 5 Example of a MATLAB Client communication 11 20 4 6 Example of points acquired for one lane o 20 4 7 Final trajectory generated aa a 21 LabVIEW QTM Plugin download in the Qualisys webpage 24 LabVIEW program structure block diagram 25 Q6D Euler vi modification Step 1 2 26 Q6D Euler vi modification Step 2 1 26 Main ton pas my lod A a ob ee ah ees a a Wh TO ene a 28 MATLAB Compiler Runtime MCR download 32 Connection setings ssh GAN a A 33 Start screen of the visualization tool LL Lua aaa o ee 33 Visualization Tool
19. hen the truck should start its overtaking maneuver and when it should finish it At this point the buttons values that the user can change in the Main vi front panel are evaluated e 4 e l there is a platoon master all the trucks in the same lane as the master will have its distance to the master updated Since the Outer Lane state 1 and the Inner Lane state 2 have traffic lights the distance of each truck to them is also updated This is only applicable to the states where traffic lights exist e 4 f Using the information given by the decision maker each truck is controlled using two PID controllers one for the speed and the other for the steering 26 5 2 PROGRAM STRUCTURE e 4 h All the updated information is sent to the Visualization Tool in order to be represented in real time The message sent has the following format seal Speed eal Speeds curam So Curen Site Current WP Current WP Distance to Traffic Lights Distance to Traffic Lights y ton r Sp Aray Took Pose uk Pose oman Stig e 5 When the button STOP is pressed also called the panic button everything stops The trucks stop and the connections to QTM to the T Motes and to the Visualization Tool are closed 27 5 3 RUNNING THE LABVIEW PROGRAM 5 3 Running the LabVIEW program In order to run the LabVIEW program you just need to know how to use the Main vi The Main vi front panel can be seen in Figure 5 5 and is th
20. hich include unidentified 3D identified 3D 6DOF analog data Manual 1 8 force data unlinearized 2D and linearized 2D An example application of j how to access the data types is included in the download MATLAB About data transmission Simulink Client 1 0 Both plugins are optimized for control systems and are therefore optimized for speed and low latency Because of this data is Y Manual 1 0 transmitted over UDP an unreliable data transmission protocol meaning Simulink that packets may be lost This is ok for the purposes of a control process since there is no meaning to receive old data However it also means that the plugins are not the best method to save data from QTM The plugin requires a license key in QTM please contact sales qualisys com for a quote Figure 4 1 Downloading the qualisys MATLAB Client lyww qualysis com 17 4 1 PREREQUISITES Welcome to the Qualisys MATLAB Client Setup Wizard This will install Qualisys MATLAB Client on your computer It is recommended that you dose all other applications before continuing Click Next to continue or Cancel to exit Setup QUALISYS re Comas Figure 4 2 Qualisys MATLAB Client installation If you need to use it in a different computer just download the installation file and follow the nor mal procedures to have the client installed Note that a computer with Microsoft Windows installed is required 4 1 2 Configuration File When communicating w
21. ith the Qualysis system the MATLAB Client uses a configuration file where all the settings are defined With the purpose of creating a more dynamical experience we created a MATLAB application that generates the configuration file according to the settings chosen by the user Channel Number of analog channels 130 237 43 50 22222 0 Frequency Stream Static Text _ Poll data over standard TCP connection AllFrames Stream the data over UDP _ Stream the data over TCP Data 3D 0 Analog 0 6DOF 0 2D 0 3D NoLabel Res 0 6DOF Res 0 3D NoLabels 40 Force 0 6DOF Euler q 2D Lin 9 3D Res 0 6DOF Euler Res 0 Generate Figure 4 3 Configuration file generator software To know more about each parameter of the configuration file we recommend you to refer to 2 In Figure 4 4 as an example we present a sample of a generated configuration file with the settings shown in Figure 4 3 18 4 1 PREREQUISITES OMC_conf txt IP address of the QTM_RT server lt IP 138 237 43 568 gt Port used lt PORT 22222 gt Frequency to fetch the data from the QTM RT server This is only used when streaming data STREAM set to 1 se below lt FREQ FrequencyDivisor n The camera frequency divided by n lt FREQ Frequency n gt Stream data in n Hz lt FREQ AllFrames gt Stream data with camera frequency lt FREO 411Frames gt Stream data 6 Request po
22. ization Tool A MathWorks To help with the visualization of the project we created a tool that shows all the important data that the user might need to know in a more user friendly way This is done by resorting to a communication TCP IP between the computer that is running the LabVIEW software and any computer with access to an internet connection Note that not all the data available is displayed here but only the sufficient to aid the user understand what is happening at the moment Also the data of every run is saved ina MATLAB data file type which will be helpful to posterior data analysis 6 1 Prerequisites e Once the 8 is already running you only need to run the 8 Since this tool communicates with another computer via TCP IP an internet connection is obviously needed e Next you need to have a MATLAB version installed in the computer where the Visualization Tool is to be run In case that it is not possible there is an alternative that is to only install the MATLAB Compiler Runtime MCR After downloading the version that suits your needs you simply need to run the executable file that we generated in case you use Microsoft Windows or if you use Mac OSX you can run the app that we also generated http www mathworks se products compiler mcr 31 6 1 PREREQUISITES MATLAB Compiler TER A ak MATLAB Compiler Runtime MCR Run compiled MATLAB applications or components without installing MATLAB
23. ization script maker Get control Get the external data like the buttons value roads and their LUT files 4 e 4 h Get distance to 5 4 f the traffic lights Senddata to Close QTM connection o the Trucks Visualization controller Close TCP connection with Tool the Visualiztion Tool Get distance to the master of the platoon Close all serial forwards connections Figure 5 2 LabVIEW program structure block diagram e 1 This is where the program execution starts At this point you should have created the serial for ward for each mote in the right COM ports You should have checked as well if the Road Network files exist or not One of the main hidden aspects about this part is the setting of the midranges values of the trucks The midranges values are the values that are going to be considered as 0 in the truck This means that if we send the value 127 both for speed and for steering the truck should be stopped and with its wheels heading straightforward If we sent below that value the truck should go backward in the case of the speed value and turn left in the case of the steering value and vice versa for upper values The setting of these midranges values is the first value sent to the truck after the connection is made e 2 A TCP conneciion is created and the PC where the program is running works as a server for the Visualization Tool The first message sent has the following format Road Length Road
24. ks are consuming in relation to each other In Figure 6 4 there are two extra pieces of information the percentage of Air Drag Reduction ARD and also surrounding the vertical bars of the instantaneous fuel you can see either red or green edges If that edge is green it means that for that particular truck it is being beneficial in terms of fuel consumption to be part of the platoon otherwise the edge will appear red For more technical information refer to 4 and 8 9 Here you can see a fuel ratio for each truck involved in the scenario This is the ratio between the accumulated fuel consumption when the truck decides to do catch up and the accumulated fuel consumption that the truck would have if it had continued alone For more technical information refer to 8 10 This close button when pushed closes the program We do not recommend to use this button as a first choice it is preferable to use the stop button in the LabVIEW program which you can see in Figure 5 5 This way the LabVIEW program sends a closing order to the Visualization Tool which allows it to close by itself and then closing all the TCP IP connections from both sides 11 This blocks provides a stop counter that shows the number of times each truck has stopped This is helpful to see if a truck stopped in a traffic light and how many times it did 12 This block has two different sub blocks that are basically the same but the information is divided in inner
25. lane e parallel to the line from point 3 topoint 2 as projected onto the Y Z plane Note You can use Oto signify the origin instead of a body point Note The order of the points affect the direction of the axes NB For more information on how to use this method please see the examples in the manual Rotate as this rigid body Truck Black Blue Figure 3 7 Rotate body dialog aligning using its own points e Step 7 Some final adjustments like rotating the coordinate system around a certain axis can be done On the same Rotate dialog if acquiring one of our marker configurations you should rotate more or less 20 degrees around the Y axis in order to align the local coordinate system with the world coordinate system Rotate body r Rotate local coordinate system e Degrees Radians The rotation is clockwise when looking towards the positive axis direction Rotate the system 20 aroundthe Y 7 axis Align the body using its points Makethe X axis parallel to the line from point to point 2 Makethe Y 7 axis as projected onto the Y Z plane arallel to the line fre 1 topoint 3 as projected onto the Y Z plane Note You can use Oto signify the origin instead of a body point Note The order of the points affect the direction of the axes NB For more information on how to use this method please see the examples in the man
26. lization tool After you push the run button your connection settings are defined and a start screen should appear Preferably you should push the start button when you have done all the required steps in the LabVIEW 33 6 2 RUNNING THE VISUALIZATION TOOL program this means that at this point the LabVIEW program should be waiting for an order to proceed If you press it before time it can cause some connection issues because there is a timeout in the connection Summing up make sure to run the LabVIEW program first with the Visualization Tool option turned on 34 6 3 VISUALIZATION TOOL 6 3 Visualization Tool Next we have two examples of our Visualization Tool each one represeniing the layout that we decided that better suited our scenarios Of course you are free to improve it and adjust it to your needs Both versions use the same base but one is more concerned in fuel related data and the other more concerned with the traffic lights status We will briefly explain what each one of the panels represents eoo mz smiclient Pedro Lima Distance to Master cm 80 11 79 29 ADR 41 Figure 6 4 Visualization Tool Pedro Lima smlclient Jo o Pedro Alvito Distance to Master cm Master 82 87 ETA to Outer Lane Traffic Lights 00 17 17 00 18 04 00 18 89 Out of road Out of road Instant Fuel heckpoints sec Checkpoint mM 24 Figure 6 5
27. ll data over standard TCP connection Stream the data over UDP 2 Stream the data over TCP lt STREAM B gt Verbose 8 Do not print frame number and timestamp 1 Print frame number and timestamp lt VERBOSE 8 gt Output data size to MATLAB Amount of objects sent to output for each component Enter a value for each component Use 6 to disable a component lt 3D 8 gt Max number of markers to receive lt 3D NolLabels 48 gt Max number of unlabeled markers to receive lt AnalogSingle B gt Max number of analog devices to receive data from lt ForceSingle 8 gt Max number of forces to receive lt 5DOF 8 gt Max number of 6DOF bodies to receive lt 5DOF Euler 8 gt Max number of 6DOF Euler bodies to receive lt 20 8 gt Max number of 2D points to receive from one camera lt 2D Lin B gt Max number of 2D Lin points to receive from one camera lt 3D Residual 0 gt Max number of markers with residual to receive lt 3D NoLabels Residual 0 gt Max number of unlabeled markers with residual to receive lt 6DOF Residual 8 gt Max number of 6DOF bodies to receive lt 5DOF Euler Residual 8 gt Max number of 6DOF Euler bodies to receive Max number of analog channels to receive data from lt CHANNEL 8 gt Figure 4 4 Example of a configuration file 19 4 2 TRAJECTORY CREATION 4 2 Trajectory Creation Now that you have everything needed to acquire a trajectory start by
28. lor you have chosen In Figure 3 6 this corresponds to the 4 grey points next to the X axis The next step is to associate a local coordinate system to the Rigid Body LM rement2 Q AJ File Edit View Play Capture AIM Tools Window Help s X Em EG x 100 gt E Gul e Project view Matteo Project data tree File name gt POP rls TZ add Open No item selected For Help press FI Labeled trajectories 25 6DOF GUI20Hz RT100Hz 100Hz X a Figure 3 6 3D reconstruction to the space views by the cameras The new body acquired appears with a new color e Step 6 To associate the X and Y axis of local coordinate system to certain markers right 14 3 1 HOW TO DEFINE A TRUCK AS A 6DOF BODY click Translate on the right side of the 6DOF Tracking page in the Project Options dialog A new dialog box should appear Then select Align the body using its points and input the numbers of the markers you want to be recognized as the X axis and the Y axis of the body P Rotate body TAN a r Rotate local coordinate system Rotate the system 0 z z aroundthe X ads The rotation is clockwise when looking towards the positive axis direction Align the body using its points Makethe X axis parallel to the line from point 3 to point 1 Makethe Y 7 axis _Jintersect point 3 as projected onto the Y Z p
29. n a T Mote and a Polulu board courtesy of 5 Figure 2 8 Connections between each component in a truck The following connections have to be made on the truck e Connect the 2 pin female jumper wire of the power cable to the serial board Pay attention to the polarity of the board e Connect the 2 pin female female jumper between the serial board and the Polulu board Pay attention to the polarity of the board e Connect the 3 wire cable of the speed servo to the Polulu board Pay attention to the cable order e Connect the 3 wire cable of the steering servo to the Polulu board Pay attention to the cable order e Connect the T Mote to the serial board so that the rightmost 10 pins of the T Mote are connected e Set the motor switch to On e Connect the battery female connection plug to the male connection plug of the power cable e Connect the power cable female connection plug to the speed servo male connection plug When everything is connected the yellow LED should turn on on the Polulu board If you see a red LED this can mean that the batteries are low that you misconnected some of the cables or the T Mote is misconnected to the serial board When you try to communicate with the T Mote that is on the truck you should see a blinking blue LED on the T Mote and a blinking green LED on the Polulu board If you don t see anything happening check if the IDs and COM ports you inserted in the LabVIEW program correspond
30. n about the speeds a horizontal bar that is helpful to analyze the relative speed between trucks a text field with the the absolute speed value Note that this block only displays the speed information of the trucks that are being used so if for example a truck is not being used or even if it is inside the visible zone but is out of the road its speed information will be suppressed from the display e 3 This block shows the most important information about the platooning that is the Platooning Distance This measurement represents the size of the gap between each consecutive truck that is part of the platoon For better understanding we are using the measurement in cm and it is the real distance between the trucks and not the real world distances Note that the first truck of the platoon the master naturally doesn t have any distance to display so it just identifies itself as the master To improve the visualization the list of the Platooning Distance s order reorders itself according for the order in the platoon this way the information about the platoon order is embedded with the Platooning Distance If a truck isn t part of the platoon the Platooning Distance is obviously suppressed from the display e 4 This field simply shows what is the Platooning Distance of the current scenario e 5 Here you can see what is the name of the current scenario The names are pretty self explanatory because this way it is easily understood what the sc
31. nloaded from KTH Prodgist website and then activated In order to do the serial forward of the T Motes you have to install Cygwin and TinyOS see Chapter 2 To be able to fetch the data from the MoCap it is essential to download the LabVIEW QTM Plugin from Qualysis website for that it is needed a client username and password The installation is pretty straightforward and the steps are pretty common among all the Windows installations and is explained next In order to find the LabVIEW QTM Plugin you just need to go to the Qualysis website and you will see its download link on the right side of the page O O O HOME PRODUCTS APPLICATIONS COMPANY SUPPORT CONTACT Logged in as KTH Control Logout Your support license expires 2015 12 31 CLIENT LOGIN R QTM RT plugin for LabVIEW QTM 2 7 QVA The plugin provides an easy way to stream real O Downloads 3 time data from QTM to a control process in VISUAL3D LabVIE Y Qualisys LabVIEW LabVIEW LABVIEW 1 7 QTM 2 6 or MATLAB SIMULINK The LabVIEW plugin makes all QTM data types avallable for use in later LabVIEW The data types include unidentified 3D identified 3D 6DOF MOTIONBUILDER analog data force data unlinearized 2D and linearized 2D The plugin Manual can also send commands to QTM for example start and stop measurement An example application of how to access the data types is included in the download About data transmission The LabVIEW plugin is designed for control systems an
32. obal orientation Global orientation Global orientation Global orientation Global orientation Figure 3 4 The New Body 6 with just 4 markers associated 13 3 1 HOW TO DEFINE A TRUCK AS A 6DOF BODY Mi GDOF Tracking Camera system Connection Linearization Calibration Timing Camera settings Analog boards Video devices Processing 3D Tracking Twin System Trajectories AIM 6DOF Tracking Force data RT output TSV export C3D export Matlab file export DIFF export GUI 2D view settings 3D view settings Folder options Startup 6DOF Tracker Parameters Bone Length Tolerance 10 mm Do not require that the whole body is visible before idenditfying it the first time v Calculate missing markers in rigid bodies Rigid Bodies Label X Color Y Data origin Z Data orientation TruckBlackBlue Global origin Global orientation TruckBlue Global origin Global orientation E TruckBlack Global origin Global orientation TruckRed Global origin Global orientation QuadM Global origin Global orientation TruckGrey Global origin Global orientation TruckGrey 1 169 39 23793 TruckGrey 2 5512 279 34 TruckGrey 3 151 16 1276 25 TruckGrey 4 114 55 233 03 Save Bodies Figure 3 5 The body was now renamed to Truck Grey Also the makers were renumbered e Step 5 You should now see the new body recognized with the co
33. of the authors of the program The tabs exist in order to run different scenarios created by those using the program In both tabs you have the option Manual where you can control the trucks using the panels explained above otherwise you can choose a scenario from the list and the trucks will execute a predefined set of actions The STOP button on the left is the biggest button in the Main vi This works as a panic button that stops all trucks but also closes all the connections correctly Try to use this button whenever you want to stop the program and avoid the LabVIEW stop execution button Before you press the LabVIEW run execution button you have to move the trucks by hand to strategic positions If the truck is set to start on the Outer Lane you have to put the truck in the outer lane of the road network on the opposite side of the bridge with anti clockwise orientation If the truck is set to start on the Inner Lane you have to put the truck in the inner lane of the road network on the opposite side of the bridge with clockwise orientation Finally if the truck is set to start on the Inner Road you have to put the truck in the inner road of the road network on the opposite side of the bridge with clockwise orientation The truck is set to start at the waypoint number 1 You can re set this when fetching the trajectory waypoints see Chapter 4 29 30 5 3 RUNNING THE LABVIEW PROGRAM Chapter 6 Getting Started With The Visual
34. our tool and what is happening in real time 32 6 2 RUNNING THE VISUALIZATION TOOL 6 2 Running The Visualization Tool To run the Visualization Tool as mentioned in Section 6 1 you can run the executable file or the app file in case of Mac OSX or if you prefer to run it within MATLAB simply run the SML mfile In both cases the first window to appear is the one in Figure 6 2 Communication L m I 7 P Host Computer 130 237 43 135 Fort Host Computer 55000 Figure 6 2 Connection settings Here you have to define the settings for the TCP IP connection between your computer and the computer running the LabVIEW program You have to set both the IP address and the port number of the remote computer If you don t know the IP address of the remote computer just type ipconfig in the command line and the IP address of that computer will be shown The port number should preferably be a number between 49152 65535 but be aware that it must be the same in both sides So because the default value in the LabVIEW program is 55000 we recommend to use it as port number If by any chance you want to change it dont forget to change in both places The values you see in Figure 6 2 are the default values only because it is the current configuration in the Smart Mobility Labs computers e090 smiclient Figure 6 3 Start screen of the visua
35. rated We use an interpolation process to create more waypoints because this creates a smoother tra jectory which will create a more realistic trajectory following of the trucks After that the result is similar to Figure 4 7 In the end two files are created One is WPList txt a file with a list of the coordinates in meters of all the trajectory waypoints Note that it is relevant to choose If you want numbers floating points to be or Unfortunately different versions of LabVIEW require different nomenclatures Version Nomenclature LabVIEW 2011 Labview 2012 Table 4 1 LabVIEW version floating point nomenclature It will also be created another file named TrajectoryLUT txt This is a lookup table with the distances between every waypoint to every other waypoints in meters Once again pay attention to the nomen clature that you choose We opted to calculate the distances between every point of the trajectory in the trajectory creation stage mainly because it only needs to be done once and since it is somewhat computational costly it is beneficial to do it in MATLAB and not in LabVIEW Now that you have the trajectory files the last step is to copy them to the correct folders in the computer that is running the LabVIEW program When creating a road network you may need to create several roads or lanes For that you need to do the process previously explained for every road you want to create After that you get t
36. roubleshooting TAM AIKUGKO Gm a a an eds de o JO E A A Be daa 7 2 Trajectory Creation i sor de doo do 6206464444 oe dd ddd de BA Lo WVISUANZa ON TOON S a aa Baa de A ee ee eth A a ara EA 11 12 17 17 17 18 20 23 24 25 28 31 31 33 35 Bibliography 41 List of Figures 1 1 Program structure block diagram 01 1 1 2 The authors Pedro Lima on the left side and Jo o Pedro Alvito on the right side 4 2 1 Connection between a PC and a T Mote courtesy of 5 6 2 2 Connection between a truck and a T Mote courtesy of 5 6 2 3 motelist command result on a Cygwin terminal 6 2 4 sf command result on a Cygwin terminal LL Loona a 6 2 5 sf normal execution on a Cygwin terminal ee ee ee 6 2 6 sf unix_error example a a 7 2 7 sf Note write failed example a 7 2 8 Connections between each component in a truck 1 8 2 9 Detailed connections between a T Mote and a Polulu board courtesy of 5 8 3 1 6DOF Tracking page in the Project Options dialog lt lt 12 8 25 Acquire Body dialog a PE da oe 64S ds a PAD LA 12 3 3 The New Body 6 appeared onthe page a 1 13 3 4 The New Body 6 with just 4 markers associated 13 3 5 The body was now renamed to Truck Grey Also the makers were renumb
37. tep 1 Open the 6DOF Tracking page that can be found in the Project Options dialog There you will see the already defined 6DOF Rigid Bodies define new ones or load old ones To acquire a new body right click Acquire Body on the right side of the dialog Alsetig sysemseup ESTEE payal sytem 6DOF Tracker Parameters Connection Bone Length Tolerance 10 mm Linearization Calibration Timing Calculate missing markers in rigid bodies Camera settings Analog boards Video devices Processing 3D Tracking Label Y Data origin Z Data orientation Virtual Twin System E Trajectories E TruckBlue igi Global orientation _ Do not require that the whole body is visible before idenditfying it the first time Rigid Bodies E TruckBlackB igi Global orientation AIM TruckBlack igi Global orientation 6DOF Tracking Force data Global orientation RT output Global origin Global orientation TSV export C3D export Matlab file export DIFF export GUI 2D view settings 3D view settings Folder options Startup Figure 3 1 6DOF Tracking page in the Project Options dialog e Step 2 Another dialog should appear Then click Start Acquire body 2 28 Acquire body coordinates Cancel Start Figure 3 2 Acquire Body dialog e Step 3 All the markers that can be seen by the cameras will appear under the Ne
38. to the T Motes you are using To charge the batteries you should connect the battery to a battery charger The charging rate The one used in the Smart Mobility Lab is the Vector AC DC NX85 Variable Output Charger 2 2 TRUCKS SET UP must be 0 54 and it takes about 10 hours for the battery to be fully charged For safety reasons it is important to never forget a charging battery while no one is around 2 2 TRUCKS SET UP Chapter 3 Getting Started with QTM Qualisys Track Manager QTM is a Windows based data acquisition software with an interface that allows the user to perform 2D and 3D motion capture This chapter provides a basic tutorial of how to use QTM in order to define a truck as a 6DOF rigid body For a more detailed description of the software please refer to 1 and 3 QUALISYS Motion Capture Systems 1 Available on the Qualysis website http www qualisys com It requires log in credentials 11 3 1 HOW TO DEFINE A TRUCK AS A 6DOF BODY 3 1 How to Define a truck as a 6DOF Body The trucks to be tracked are equipped with markers These are small IR reflective spheres placed on the top of the truck A minimum of 3 markers is required in order to define a 6DOF Rigid Body We placed 4 markers per truck so that the trucks are more robustly tracked Each truck has its unique marker configuration in order to be unequivocally recognized In order to define a 6DOF body you can follow the next steps e S
39. ual Rotate as this rigid body Truck Black Blue a Figure 3 8 Rotate body dialog rotating the local coordinate system e Step 8 To translate the coordinate system to the geometric center of the body right click 15 3 1 HOW TO DEFINE A TRUCK AS A 6DOF BODY Translate on the right side of the dialog A new dialog box should appear Then select To the geometric center of the body the average of the body points Translate body zg a Move local origin To local coordinates in mm x 0 Y 0 z 0 To the current position of this rigid body Truck Black Blue To the geometric center of the body the average of the body points To point 1 in the body So that point in the body has local coordinates in mm X 0 Y 0 Z 0 Cancel OK Figure 3 9 Translate body dialog e Step 9 The new body should now appear with the correct label and color and with the local coordinate system 9 Measurement2 Qua i File Edit View Play Capture AIM Tools Window Help NUS Em Em 100 gt El cul e Project view Matteo Labeled trajectories Project data tree File name 6DOF GUI20Hz RT100Hz ff 100Hz X Figure 3 10 The new body is now visible with correct label and color and with the local system If you are not getting the desired result please make sure you followed correctly all the steps and r
40. w Body markers list You should delete from the list all the acquired markers that do not make part of the body you want to define The best way to do this is either by only putting the body you are defining on the visible are or knowing more or less the coordinates of the markers which make part of the new body and you deleting all the others 12 3 1 HOW TO DEFINE A TRUCK AS A 6DOF BODY All settings system setup GDOF Tracking a E pote system r 6DOF Tracker Parameters Connection Bone Length Tolerance 10 mm jes Linearization 8 Calibration i Timing Y Calculate missing markers in rigid bodies Camera settings iw Analog boards Video devices E Processing 3D Tracking 8 Twin System Global origin Global orientation zm 339 66 2189 79 279 06 ET mo 246 08 2251 35 249 04 Force data ses 212 39 2187 81 237 31 iy RT output na 322 26 2338 28 280 52 Em 858 36 2239 67 243 59 land As ad 81138 2131 76 241 25 E DIFF export ve 932 20 2098 27 269 53 E GUI wo 972 33 2190 92 270 17 A 1561 00 1981 84 232 39 3D view settings Faklerapiiane 1640 09 1872 14 270 11 Startup wo 1502 64 1875 05 231 17 wo 1543 36 1851 36 242 03 190 63 250 26 123 69 Do not require that the whole body is visible before idenditfying it the first time Rigid Bodies X Color Y Data origin Z Data orientation Virtual
41. with more waypoints see Chapter 4 e Define the trucks as being 6DOF bodies using the Qualysis QTM software This way it is possible to track them in real time with 6DOF see Chapter 3 e Use the trucks and do a wide range of operations from platooning platoon catch up and over taking to traffic control with traffic lights see Chapter 5 e Run a visualization tool that allows the user and the target audience to easily understand what is happening see Chapter 6 1 2 WHO ARE WE 1 2 Who are we Figure 1 2 The authors Pedro Lima on the left side and Joao Pedro Alvito on the right side We are two portuguese master students in Electrical and Computers Engineering from Instituto Superior T cnico Lisbon Portugal We both came to KTH under an agreement between IST an KTH to take the Master Program in Systems Control and Robotics TSCRM at KTH as part of a Dual Degree This agreement includes doing our master thesis in KTH If you want to know more about this project or if you have any doubts don t hesitate to contact us pfrdal kth se and jpfa kth se Chapter 2 Getting Started with the Tamiya Trucks The Tamiya Scania trucks are 1 14 scale trucks of the real Scania V8 They are naturally one of the most important parts of the overall system This chapter provides a basic tutorial of how to connect and start the trucks and some trou bleshooting For a more detailed description of the material involved please ref
42. wo files for every road one containing the waypoints and the other one with the distances between the waypoints If you need to create connected roads i e roads that have transition waypoints between them you Just create the roads normally and then in the LabVIEW program you need to specify the number of those waypoints 21 22 4 2 TRAJECTORY CREATION Chapter 5 Getting Started with the LabVIEW Program LabVIEW is a powerful National Instruments software that allows the user to program using a graphical interface like blocks and connecting wires The developed LabVIEW program achieves the following objectives e Creates the connection between the PC and the trucks using the serial forwarded T Motes e Creates the TCP connection between the PC and another PC running the Visualization Tool e Fetches the MoCap data e Controls the trucks behavior NATIONAL INSTRUMENTS 23 5 1 PREREQUISITES 5 1 Prerequisites We recommend that the program is used in a PC running Windows 7 or higher with LabVIEW 2011 or higher Note that only the LabVIEW 2012 is compatible with Windows 8 Although there are compatible versions of LabVIEW for other platforms like Linux and Mac OSX it is not guaranteed that everything works like in Windows Problems like doing the T Motes serial forwarding and fetching the MoCap data can arise LabVIEW can be downloaded from the National Instruments website and for instance a student license can be dow
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