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02:14 Expectation vs. reality: unexpected loop execution gaps
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Classroom Contents
Challenges in High Performance Robotics Systems
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- 1 00:00 Introduction to high-performance robotics challenges
- 2 00:15 The problem of unexplained robot behavior
- 3 00:54 Root cause analysis: policy vs. software
- 4 01:17 Designing a toy robotics system for analysis
- 5 01:24 System architecture: sensors, CPU, GPU, actuators, CAN bus
- 6 01:57 The initial, simple code loop
- 7 02:14 Expectation vs. reality: unexpected loop execution gaps
- 8 02:42 The impact of CAN bus data rate on loop execution
- 9 03:13 Potential solutions: accepting delay vs. multithreading
- 10 04:00 A new, pipelined design for reduced cycle time
- 11 04:32 New problems: "stuttering" and abnormal motor behavior
- 12 04:49 Data collection with external transceivers and "candump"
- 13 05:24 Expected vs. actual message plots: missed messages and jitter
- 14 06:12 Using cycle time plots to identify desynchronization
- 15 06:58 Transmit phase desynchronization: missed and queued data
- 16 08:03 Receive phase desynchronization: stale data and overcompensation
- 17 08:38 Resolving synchronization issues: kernel primitives and padding
- 18 09:25 The impact of logging on system performance
- 19 11:09 Reception and priority inversion
- 20 12:02 Conclusion and summary of key takeaways
