The object-oriented Robot Independent Programming Environment (RIPE) is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming st...
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The object-oriented Robot Independent Programming Environment (RIPE) is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, and robust communication. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classes and device-specific subclasses which inherit the same interface, the Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask-handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment.< >
A description is given of a data-processing structure for real-time systems with sensory feedback and a distributed computer architecture that supports it. The computer system is implemented within an autonomous mobil...
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ISBN:
(纸本)081860865X
A description is given of a data-processing structure for real-time systems with sensory feedback and a distributed computer architecture that supports it. The computer system is implemented within an autonomous mobile robot and is based on a set of independent processing modules, each of which consists of a processing core, a transport unit, and a common memory between them. Communication between modules is done in two ways. For command transportation, a direct point-to-point connection is used and transport of raw and processed sensor data is done by broadcasting. Transportation is controlled by an adjustable timetable, which is maintained by the supervisor, who slows down the driving speed and adjusts the timetable if the module does not process the given task in time. This facility allows speed of the robot to be adapted to the current processing capacity and to the complexity of the environment.
Timix is a distributed real-time kernel that is being developed to support multisensor robot systems. The overall structure of the kernel is described, including a hierarchy of interprocess communication primitives an...
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Timix is a distributed real-time kernel that is being developed to support multisensor robot systems. The overall structure of the kernel is described, including a hierarchy of interprocess communication primitives and a generic way to interact with external devices. A simple multisensor robot that is being implemented using Timix is also presented. Three salient aspects of Timix are as follows. First, it is possible to estimate the amount of time that a real-time process takes to execute since the execution times of system calls are bounded. Second, an hierarchy of communication methods, which differ in synchronization, time and space overheads, and bandwidth requirements, are provided to allow the programmer to choose the one most applicable to a particular application, depending on the real-time requirements. Finally, new devices, which ar directly controlled by application processes, can be integrated into the system without changing the kernel.< >
sensor data fusion takes many forms and has diverse purposes. sensor data fusion can improve a complex robot's picture of the world and increase its confidence in the truth of that picture. A computing architectur...
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ISBN:
(纸本)0818606959
sensor data fusion takes many forms and has diverse purposes. sensor data fusion can improve a complex robot's picture of the world and increase its confidence in the truth of that picture. A computing architecture which supports many different schemes for fusion sensor data is necessary to support the activities of complex robots. One such architecture is the distributed blackboard mechanism implemented onboard the USMC ground surveillance robot. The distributed blackboard has proved to be a very useful and flexible mechanism for accomplishing effective sensor data fusion.
A modular and expandable distributed microcomputer hardware and software system is described that matches the natural needs of real-time mechanization of manipulator control in space teleoperation. Those needs include...
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ISBN:
(纸本)0818606959
A modular and expandable distributed microcomputer hardware and software system is described that matches the natural needs of real-time mechanization of manipulator control in space teleoperation. Those needs include: (a) distribution of real-time control computing power between control station and remote robot arms equipped with smart end effectors;and (b) the use of interchangeable control techniques like (i) generalized force-reflecting hand control, (ii) sensor-referenced automatic control, and (iii) supervisory control with interface to high-level task planning control. The distributed microcomputer control system is also handling computer graphics displays and the control of TV cameras. The authors describe the major components of the modular control software system including interprocessor communication and control mode selection. A simulation example is quoted to verify control hardware/software performance and to aid human operator control performance studies.
sensor data fusion takes many forms and has diverse purposes. sensor data fusion can improve a complex robot's picture of the world and increase its confidence in the truth of that picture. A computing architectur...
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sensor data fusion takes many forms and has diverse purposes. sensor data fusion can improve a complex robot's picture of the world and increase its confidence in the truth of that picture. A computing architecture which supports many different schemes for fusing sensor data is necessary to support the activities of complex robots. One such architecture is the distributed blackboard mechanism implemented onboard the USMC Ground Surveillance Robot (GSR) [1]. The distributed blackboard has proven to be a very useful and flexible mechanism through which to accomplish effective sensor data fusion.
A modular and expandable distributed microcomputer hardware and software system is described matching the natural needs of real-time mechanization of manipulator control in space teleoperation. The natural needs inclu...
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A modular and expandable distributed microcomputer hardware and software system is described matching the natural needs of real-time mechanization of manipulator control in space teleoperation. The natural needs include: (a) distribution of real-time control computing power between control station and remote robot arms equipped with smart end effectors and (b) the use of interchangeable control techniques like (i) generalized force-reflecting hand control, (ii) sensor-referenced automatic control and (iil) supervisory control with interface to high level task planning control. The distributed microcomputer control system is also handling computer graphics displays and the control of TV cameras. The paper describes the major components of the modular control software system including inter-processor communication and control mode selection. A simulation example is quoted to verify control hardware/software performance and to aid human operator control performance studies.
The book constitutes the refereed proceedings of the 6th internationalconference on distributedcomputing in sensorsystems, dcoss 2010, held in Santa Barbara, CA, USA, in June 2010. The 28 revised full papers presen...
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ISBN:
(数字)9783642136511
ISBN:
(纸本)9783642136504
The book constitutes the refereed proceedings of the 6th internationalconference on distributedcomputing in sensorsystems, dcoss 2010, held in Santa Barbara, CA, USA, in June 2010. The 28 revised full papers presented were carefully reviewed and selected from 76 submissions. The research contributions in this proceedings span important aspects of sensorsystems, including energy management; communication; coverage and tracking; time synchronization and scheduling; key establishment and authentication; compression; medium access control; code update; and mobility.
The book constitutes the refereed proceedings of the Fifth internationalconference on distributedcomputing in sensorsystems, dcoss 2009, held in Marina del Rey, CA, USA, in June 2009. The 26 revised full papers pre...
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ISBN:
(数字)9783642020858
ISBN:
(纸本)9783642020841
The book constitutes the refereed proceedings of the Fifth internationalconference on distributedcomputing in sensorsystems, dcoss 2009, held in Marina del Rey, CA, USA, in June 2009. The 26 revised full papers presented were carefully reviewed and selected from 116 submissions. The research contributions in this proceedings span many aspects of sensorsystems, including energy efficient mechanisms, tracking and surveillance, activity recognition, simulation, query optimization, network coding, localization, application development, data and code dissemination.
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