Sharing the latest technologies, hands-on experience, and in-depth insights in AI and Robotics.
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We measured whether atomic memory ordering could be a performance bottleneck in a 1kHz RT loop on Jetson Orin (Cortex-A78AE). On AArch64, the cost of seq_cst is virtually identical to release/acquire, and the total cost of 25 atomic operations is less than 0.01% of the 1ms budget.
Vision/InferenceAn exploration of how template matching technology in computer vision has evolved from pixel-based methods through SIFT/ORB to SuperPoint/SuperGlue. Covers the principles, limitations, and use-case recommendations for each approach.
ControlThis article explains the CiA402 profile, the motor control standard for industrial robots based on EtherCAT and CANopen. It covers the state machine, Controlword/Statusword bit structures, and operation modes with practical examples.
The factor determining IPC performance in robot control systems is the synchronization mechanism, not process boundaries. We share a case study achieving 100x improvement from 78-103us with Mutex to 0.74-0.82us with Lock-free.
Perception/CalibrationExplains Voxel, SDF, TSDF, and ESDF technologies that robots use to represent and understand 3D environments. Covers differences from Point Clouds and practical applications in robot path planning and surface reconstruction.
ControlWe share the process of optimizing acceleration feedforward control for a 6-axis robot arm. By using planner acceleration + LPF instead of numerical differentiation, we achieved 21.2% improvement in position RMSE and torque stability simultaneously.
WIM Inc. is building the future of industrial automation by integrating AI and Robotics technologies. In this blog, we share the technical challenges we face, our solutions, and the insights we gain.
Through field-tested technologies, in-depth analysis, and practical guides, we aim to help engineers in the AI and Robotics fields.