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SORMA: Interoperating distributed robotics hardware

SORMA: Interoperating distributed robotics hardware

引用

Proceedings of the 1997 ieee international Conference on Robotics and Automation, ICRA. Part 4 (of 4)

作者： Walter, Jorg A. Univ of Bielefeld Bielefeld Germany

This paper introduces the service object Request Management Architecture (`SORMA'), its design issues, and its concepts. It is a software framework for rapid development of object-oriented software modules and their integration into stand-alone and distributed applications. SORMA provides an intelligent `object-bus' for inter-operating and sharing distributed computing and robotics hardware. We investigate the question, why too many valuable hardware and software systems and components are a `one-of-a-kind' product which do not find economical re-use. For instance, due to the short life-time of single-usage code, extensive, robust, and verbose exception handling - a prerequisite of incremental work - is often sacrificed. We analyze the `costs of communication' between the component's builder and all its users, who build solutions. We propose to pay much more attention to interactive exploration frameworks, which support rapid, qualified information gain on context-situated, efficient applicability. SORMA demonstrates how to reach self-explaining, built-in interactivity which does not impair the component's real-time efficiency.

关键词： Robotics

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Digest of Papers - 27th Annual international symposium on Fault-Tolerant computing, FTCS 1997

Digest of Papers - 27th Annual International Symposium on Fa...

引用

27th Annual international symposium on Fault-Tolerant computing, FTCS 1997

ISBN: (纸本)0818678313

The proceedings contain 42 papers. The topics discussed include: managing dependencies - a key problem in fault-tolerant distributed algorithms;an approach to fault-tolerant parallel processing on intermittently idle, heterogeneous workstations;renegotiable quality of service - a new scheme for fault tolerance in wireless networks;evaluation of a 32-bit microprocessor with built-in concurrent error-detection;probabilistic checkpointing;portable checkpointing for heterogenous architectures;a communication-induced checkpointing protocol that ensures rollback-dependency trackability;a method to automate user interface testing using variable finite state machines;towards a statistical approach to testing object-oriented programs;and experimental evaluation of failure-detection schemes in real-time communication networks.

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SORMA: interoperating distributed robotics hardware

SORMA: interoperating distributed robotics hardware

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ieee international Conference on Robotics and Automation (ICRA)

作者： J.A. Walter Department of Computer Science University of Bielefeld Bielefeld Germany

This paper introduces the service object Request Management Architecture (SORMA), its design issues, and its concepts. It is a software framework for rapid development of object-oriented software modules and their integration into stand-alone and distributed applications. SORMA provides an intelligent "object-bus" for interoperating and sharing distributed computing and robotics hardware. We investigate the question of why too many valuable hardware and software systems and components are a "one-of-a-kind" product which do not find economical re-use. We analyze the "costs of communication" between the component's builder and all its users, who build solutions. We propose to pay much more attention to interactive exploration frameworks, which support rapid, qualified information gain on context-situated, efficient applicability. SORMA demonstrates how to reach self-explaining, built-in interactivity which does not impair the component's real-time efficiency.

关键词： Hardware Costs Intelligent robots Context Application software Economics Software reusability Computer science Computer architecture distributed computing

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Process migration subsystem for a workstation-based distributed systems

Process migration subsystem for a workstation-based distribu...

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Proceedings of the 1996 5th ieee international symposium on High Performance distributed computing

作者： Al-Tawil, Khalid Bozyigit, M. Naseer, S. King Fahd Univ of Petroleum and Minerals Dhahran Saudi Arabia

ISBN: (纸本)0818675829

Workstation-based distributed computing environments are getting popular in both academic and commercial communities due to the continuing trend of decreasing cost/performance ratio and rapid development of networking technology. However, the work load on these workstations is usually much lower than their computing capacity, especially with the ever-increasing computing power of new hardware. As a result, the resources of such workstations are often under-utilized and many of them are frequently idle. A preemptive process migration facility can be provided, in such a distributed system, to dynamically relocate running processes among the component machines. Such relocation can help cope with dynamic fluctuations in loads and service needs, improve the system's fault tolerance, meet real-time scheduling deadlines, or bring a process to a special device. This paper presents a process migration subsystem for tolerating process and node failures on a workstation based environment. The design and implementation of the subsystem are also discussed.

关键词： distributed computer systems

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A process migration subsystem for a workstation-based distributed systems

A process migration subsystem for a workstation-based distri...

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international symposium on High Performance distributed computing

作者： K. Al-Tawil M. Bozyigit S. Naseer Department of Computer Engineering King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Department of Information & CS King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

Workstation based distributed computing environments are getting popular in both academic and commercial communities, due to the continuing trend of decreasing cost/performance ratio and rapid development of networking technology. However, the workload on these workstations is usually much lower than their computing capacity, especially with the ever increasing computing power of new hardware. As a result, the resources of such workstations are often under utilized and many of them are frequently idle. A preemptive process migration facility can be provided, in such a distributed system, to dynamically relocate running processes among the component machines. Such relocation can help cope with dynamic fluctuations in loads and service needs, improve the system's fault tolerance, meet real time scheduling deadlines, or bring a process to a special device. The paper presents a process migration subsystem for tolerating process and node failures on a workstation based environment. The design and implementation of the subsystem are also discussed.

关键词： distributed control Workstations distributed computing Costs Fault tolerant systems Hardware Minerals Fluctuations real time systems Dynamic scheduling

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A quality of service negotiation procedure for distributed multimedia presentational applications 96

A quality of service negotiation procedure for distributed m...

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international symposium on High Performance distributed computing

作者： A. Hafid G. von Bochmann B. Kerherve Department dIRO Groupe de Téléinformatique Université de Montreal Montreal Canada

ISBN: (纸本)9780818675829

Most current approaches in designing and implementing distributed multimedia (MM) presentational applications have concentrated on the performance of the continuous media file servers in terms of seek-time overhead and real-time disk scheduling; particularly, the quality of service (QoS) negotiation mechanisms they provide are used in a rather static manner, i.e. these mechanisms are restricted to the evaluation of the capacity of certain system components. In contrast to those approaches, we propose a general QoS negotiation framework that supports the dynamic choice of a configuration of system components to support the QoS requirements of the user of a specific application: we consider different possible system configurations and select an optimal one to provide the appropriate QoS support. We document the design and implementation of a QoS negotiation procedure for distributed MM presentational applications, such as news-on-demand. The negotiation procedure described is an instantiation of the general framework for QoS negotiation. Our proposal differs in many respect with the negotiation functions provided by existing approaches: (1) the negotiation process uses an optimization approach to find a configuration of system components which supports the user requirements, (2) the negotiation process supports the negotiation of a MM document and not only a single monomedia object, (3) the QoS negotiation takes into account the cost to the user; (4) the negotiation process may be used to support automatic adaptation to react to QoS degradations, without intervention by the user/application.

关键词： Quality of service Application software File servers Multimedia systems Proposals Software prototyping real time systems Cost function Degradation Management information systems

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A Process Migration Subsystem for a Workstation-Based distributed Systems 96

A Process Migration Subsystem for a Workstation-Based Distri...

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Proceedings of the 5th ieee international symposium on High Performance distributed computing

作者： K. M. Al-Tawil M. Bozyigit S. K. Naseer

ISBN: (纸本)9780818675829

Workstation-based distributed computing environments are getting popular in both academic and commercial communities due to the continuing trend of decreasing cost/performance ratio and rapid development of networking technology. However, the work load on these workstations is usually much lower than their computing capacity, especially with the ever-increasing computing power of new hardware. As a result, the resources of such workstations are often under-utilized and many of them are frequently idle. A preemptive process migration facility can be provided, in such a distributed system, to dynamically relocate running processes among the component machines. Such relocation can help cope with dynamic fluctuations in loads and service needs, improve the system's fault tolerance, meet real-time scheduling deadlines, or bring a process to a special device. Such a facility, however, is not available in the context of conventional Unix family of operating systems. Most of the work on providing a remote execution facility has been on limited-domain distributed operating systems. This paper presents a process migration subsystem for tolerating process and node failures on a workstation based environment. The design and implementation of the subsystem are also presented.

关键词： distributed Systems

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realization of autonomous decentralized computing with the RTO.k object structuring scheme and the HU-DF inter-process-group communication scheme

Realization of autonomous decentralized computing with the R...

引用

Proceedings of the 2nd international symposium on Autonomous Decentralized Systems

作者： Kim, K.H. Univ of California Irvine United States

The autonomy of various subsystem in complex real-time distributed computer systems (DCS's) is a highly desired attribute. Highly autonomous subsystems enable concurrent and largely independent testing/verification and maintenance of the subsystems. In recent years, we formulated two system structuring techniques which could be used as fundamental tools for enhancing the subsystem autonomy: (1) the RTO.k object structuring scheme and (2) the HU-DF inter-process-group communication scheme. Three approaches of using the above two tools for enhancement of the three different basic types of autonomy in an object, (1) relocation autonomy, (2) service timing autonomy, and (3) data acceptance autonomy, are presented.

关键词： distributed computer systems

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Agent-oriented robot task transformation

Agent-oriented robot task transformation

引用

ieee international symposium on Intelligent Control (ISIC)

作者： W. Kalkhoff Real-Time Systems and Robotics Group Fakultät für Informatik Technische Universität München Munich Germany

This paper describes a new approach to modelling robot systems by a large number of cooperating agents solving a robot task. On the one hand the agent model submits to use results of the distributed artificial intelligence (DAI), on the other hand, typical aspects of robot systems must be integrated. Therefore, an agent model will be presented serving the special requirements of robot systems and offering many advantages like robustness, high efficiency, and the chance of integrating reactive and deliberative behavior. The agent model also enables the use of different programming paradigms, ranging from complex over hierarchical to object-oriented agents. Finally, a typical set of agents is presented, forming a multi-layered, distributed and reactive (MDR) robot task-level transformer.

关键词： Robot sensing systems object oriented modeling Robot programming Robustness Production facilities Sensor systems Robotic assembly real time systems service robots Cleaning

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