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.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

scholarly journals Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

1997 ◽  
Author(s):  
John M. Hollerbach ◽  
Elaine Cohen ◽  
William Thompson ◽  
Rodney Freier ◽  
David Johnson ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Prototyping ◽  
Haptic Interface ◽  
Control Architecture ◽  
Real Time Control ◽  
Cad Modeling ◽  
Time Control ◽  
Smooth Transitions ◽  
New Algorithms ◽  
Surface Proximity

Abstract A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha_1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

Design Concept of Responsive Multithreaded Processor for Distributed Real-Time Control

2004 ◽  
Vol 16 (2) ◽  
pp. 194-199 ◽  
Author(s):  
Nobuyuki Yamasaki ◽  
Keyword(s):  
Real Time ◽  
Design Concept ◽  
Processing Unit ◽  
Home Automation ◽  
Real Time Control ◽  
Real Time Processing ◽  
Time Control ◽  
Multithreaded Processor ◽  
On Chip ◽  
Asic Chip

This paper describes the design concept of Responsive MultiThreaded (RMT) Processor for distributed real-time control that controls various embedded systems including robots, home automation, factory automation, etc. RMT processor integrates an 8-way multithreaded processor (RMT processing unit) for real-time processing, four sets of Responsive Link II for real-time communication, and I/O peripherals including DDR SDRAM I/Fs, DMAC, PCI64, USB2.0, IEEE1394, PWM generators, pulse counters, etc., into an ASIC chip. System designers can use various on-chip functions easily by connecting required I/Os to this chip directly. The designers can also realize distributed control systems by connecting several RMT processors with their own functions via Responsive Link II.

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