In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). this tool isolates the control architecture of an autonomous computational system, like a...
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ISBN:
(纸本)9789728865832
In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). this tool isolates the control architecture of an autonomous computational system, like a robot, from its particular hardware implementation. It is provided with a set of general sensors and typical sensorial processing mechanisms of this kind of autonomous systems allowing for its application to different commercial platforms. this way, the HABLA permits the control designer to focus its work on higher-level tasks minimizing the time spent on the adaptation of the control architecture to different hardware configurations. Another important feature of the HABLA is that both hardware-HABLA and HABLA-control communications take place through standard TCP sockets, permitting the distribution of the computational cost over different computers. In addition, it has been developed in JAVA, so it is platform independent. After presenting the general HABLA diagram and operation structure, we consider a real application using the same deliberative control architecture on two different autonomous robots: an Aibo legged robot and a Pioneer 2Dx wheeled robot.
In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components...
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ISBN:
(纸本)9789728865832
In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. this is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. the paper discusses the implementing of a high availability solution in a robotized manufacturing line.
this paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the com...
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this paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the computation of the projected vehicle's velocity from obstacle proximity sensor data and inclination information. We describe how this group of behaviours is implemented in the synchronous language Quartz in order to be formally verified using model checking techniques of the Averest verification framework. Moreover, by integrating the automatically generated and verified code into the behaviour network, it can be guaranteed that the robot slows down and stops as required by the given safety specifications.
the paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in r...
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the paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in recent device programmer industry;programming density have been constantly fast growing from lowvolume to high-volume programming for all kinds of non-volatile flash memory devices such as NOR flash, NAND flash, and MMC cards, SD flash cards, serial flash device, serial flash cards, flash-based microcontrollers and flash disks as high performance M-systems DiskOnChip. Device programming mode is more demanding an automatic programming than manual operation mode. It drives the creation and implementation of a high-performance automated programming robotic systems. this paper shows how this proposed advanced Fuzzy self-tuning PID controllers work on these automated programming robotic automation systems.
In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. the manipulation system we developed was designed starting from...
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ISBN:
(纸本)9789728865825
In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. the manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance withthe general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. the control system is organized in a hierarchical way. the low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to controlthe arm stiffness. the high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.
the system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations withthe international space station is being considered. the initial data for this complex is the video signal r...
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the system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations withthe international space station is being considered. the initial data for this complex is the video signal received from the TV-camera, mounted on the station board. the offered algorithms of this video signal processing in real time allow restoring the basic characteristics of the spacecraft motion with respect to the international space station. the results of the experiments withthe described software and real and virtual video data about the docking approach of the spacecraft withthe international Space Station are being presented. the accuracy of the estimation of the motion characteristics and perspectives of the use of the package are being discussed.
the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the productio...
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ISBN:
(纸本)1424408644
the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the production of the future;software design aimed to the control of the automatic machines: design patterns;engineering industrial ecosystems in a networked world;how open standard based tools can support the future of flexible manufacturing;an efficient data preprocessing method for mining customer survey data;case study: utilities and asset management - time for a change;design and development of a service-oriented supply chain: an IT perspective;e-business and collaborative networks: a service-oriented ICT platform for the footwear industry;ontology based data warehouse modeling and mining of earthquake data: prediction analysis along Eurasian-Australian continental plates;and a comparative study of dynamic learning rate BPN and wavelet neural networks.
the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the productio...
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ISBN:
(纸本)1424408644
the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the production of the future;software design aimed to the control of the automatic machines: design patterns;engineering industrial ecosystems in a networked world;how open standard based tools can support the future of flexible manufacturing;an efficient data preprocessing method for mining customer survey data;case study: utilities and asset management - time for a change;design and development of a service-oriented supply chain: an IT perspective;e-business and collaborative networks: a service-oriented ICT platform for the footwear industry;ontology based data warehouse modeling and mining of earthquake data: prediction analysis along Eurasian-Australian continental plates;and a comparative study of dynamic learning rate BPN and wavelet neural networks.
the paper presents aspects regarding different possibilities to represent the control problems in networked control systems (NCSs) characterized by variable time delays. the operational computations in linear systems ...
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