Architectures for the real-time control of autonomous mobile robots

1991 ◽  
Vol 2 (6) ◽  
pp. 253
Author(s):  
John Gray
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Autonomous Mobile Robots ◽  
Real Time Control ◽  
The Real ◽  
Time Control

scholarly journals Functionally Distributed Control Architecture for Autonomous Mobile Robots

2004 ◽  
Vol 16 (2) ◽  
pp. 217-224 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Distributed Control ◽  
Auditory Processing ◽  
Autonomous Mobile Robots ◽  
Control Architecture ◽  
Human Society ◽  
Processing Unit ◽  
Real Time Control ◽  
Time Control

This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.

Navigation of mobile robots using a fuzzy behaviorist approach and custom-designed fuzzy inferencing boards

Robotica ◽  
1994 ◽  
Vol 12 (6) ◽  
pp. 491-503 ◽  
Author(s):  
François G. Pin ◽  
Yutaka Watanabe
Keyword(s):  
Mobile Robots ◽  
Fuzzy Sets ◽  
Real Time ◽  
Qualitative Reasoning ◽  
Robotic Systems ◽  
Real Time Control ◽  
The Real ◽  
Time Control

SummaryTwo types of computer boards incorporating recently developed VLSI fuzzy inferencing chips have been developed to support the addition of qualitative reasoning capabilities to the real-time control of robotic systems. The design and operation of these boards are first reviewed and their use, in conjunction with our proposed Fuzzy Behaviorist approach, is discussed. This approach uses superposition of elemental sensor-based behaviors expressed in the Fuzzy Sets theoretic framework, to emulate "human-like" reasoning inrobotic systems.

Using graphs to construct a math model of a microcontroller-based system for preset rate control of a flywheel motor to be used in high-dynamics spacecraft

2020 ◽  
pp. 126-134
Author(s):  
Vladimir V. NEKRASOV
Keyword(s):  
Real Time ◽  
Rotation Rate ◽  
Control Function ◽  
Real Time Control ◽  
Math Model ◽  
The Real ◽  
Time Control ◽  
Power Matrix ◽  
High Dynamics ◽  
Stated Problem

Developing a microcontroller-based system for controlling the flywheel motor of high-dynamics spacecraft using Russian-made parts and components made it possible to make statement of the problem of searching control function for a preset rotation rate of the flywheel rotor. This paper discusses one of the possible options for mathematical study of the stated problem, namely, application of structural analysis based on graph theory. Within the framework of the stated problem a graph was constructed for generating the new required rate, while in order to consider the stochastic case option the incidence and adjacency matrices were constructed. The stated problem was solved using a power matrix which transforms a set of contiguous matrices of the graph of admissible solution edge sequences, the real-time control function was found. Based on the results of this work, operational trials were run for the developed control function of the flywheel motor rotor rotation rate, a math model was constructed for the real-time control function, and conclusions were drawn about the feasibility of implementing the results of this study. Key words: Control function, graph, incidence matrix, adjacency matrix, power matrix, microcontroller control of the flywheel motor, highly dynamic spacecraft.

Optimization of the real-time control strategy in petroleum-refining catalyst production wastewater treatment with shortcut nitrification

RSC Advances ◽  
2015 ◽  
Vol 5 (105) ◽  
pp. 86490-86496 ◽  
Author(s):  
Tianqi Ma ◽  
Shaohui Guo ◽  
Zhihui Guo ◽  
Qiushi Zhu ◽  
Jinfu Chen
Keyword(s):  
Wastewater Treatment ◽  
Real Time ◽  
Control Strategy ◽  
Control Parameter ◽  
Petroleum Refining ◽  
Real Time Control ◽  
High Ph ◽  
The Real ◽  
Time Control ◽  
Catalyst Production

Indicated high pH benefits the accuracy of real-time control strategy, explained why DO as a control parameter is unreliable.

Real-Time Pseudodielectric Function of Low-Temperature-Grown GaAs

2000 ◽  
Vol 618 ◽  
Author(s):  
D.A. Gajewski ◽  
J.E. Guyer ◽  
J.J. Kopanski ◽  
J.G. Pellegrino
Keyword(s):  
Low Temperature ◽  
Real Time ◽  
Diffuse Reflectance Spectroscopy ◽  
High Energy ◽  
Real Time Control ◽  
The Real ◽  
Time Control ◽  
Active Feedback ◽  
Low Temperature Grown Gaas ◽  
Lt Gaas

ABSTRACTWe present the real-time pseudodielectric function <ε(E)> of low-temperature-grown GaAs (LT-GaAs) thin films during the growth as a function of growth temperature Tg and thickness. We obtained accurate measurements of the real-time <εc(E)> by using in situspectroscopic ellipsometry (SE) in conjunction with active feedback control of the substrate temperature using diffuse reflectance spectroscopy. We show that for epitaxial LT-GaAs layers, the peak in the imaginary pseudodielectric function <ε2(E)> decreases in amplitude and sharpness systematically with decreasing Tg. We also revealed an abrupt change in <εc(E)> near the critical epitaxial thickness hepi, the value of which decreases with decreasing Tg. Above hepi, the LT-GaAs grows polycrystalline (amorphous) above (below) Tg ∼ 190°C. We also simultaneously monitored the surface roughness and crystallinity by using real-time reflection high-energy electron diffraction (RHEED). These results represent progress in obtaining real-time control over the composition and morphology of LT-GaAs

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