Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our arch...
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ISBN:
(纸本)9781424468508
Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.
Most work in sensor networks tries to maximize network lifetime. However, for many applications the required lifetime is known in advance. Therefore, application quality should rather be maximized for that given time....
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Most work in sensor networks tries to maximize network lifetime. However, for many applications the required lifetime is known in advance. Therefore, application quality should rather be maximized for that given time. Levels, the approach presented in this article, is a programming abstraction for energy-aware sensor network applications that helps to meet such a user-defined lifetime goal by deactivating optional functionality. With this programming abstraction, the application developer defines so-called energy levels. Functionality in energy levels is deactivated if the required lifetime cannot be met otherwise. The runtime system uses data about the energy consumption of different levels to compute an optimal level assignment that maximizes each node's quality for the time remaining. As described in this paper, Levels includes a completely distributed coordination algorithm that balances energy level assignments and keeps the application quality of the network roughly constant over time. In this approach, each node computes its schedule based on those of its neighbors. As the evaluation shows, applications using Levels can accurately meet given lifetime goals with only small fluctuations in application quality. In addition, the runtime overhead both for computation and for communication is negligible.
In this paper, we report on our experiment with the deployment of a virtual machine, Netquest, which evaluates protocols written in a declarative language, over iMote devices. Netquest offers a new programming model f...
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ISBN:
(纸本)9780769533308
In this paper, we report on our experiment with the deployment of a virtual machine, Netquest, which evaluates protocols written in a declarative language, over iMote devices. Netquest offers a new programming model for sensor networks with a high level of abstraction. Protocols and applications can be written in a simple rule-based language, which allows concise and application centric programming. The Netquest Virtual Machine is implemented on top of an embedded DBMS, SQLite, which carries on most of the computation. Our experiments over a small network of iMote devices demonstrate (i) that high-level programming abstraction can be provided on such devices, and (ii) that declarative applications for sensor networks can be developed easily.
In this paper we present Levels, a programming abstraction for energy-aware sensor network applications. Unlike most previous work it does not try to maximize network lifetime but rather helps to meet user-defined lif...
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ISBN:
(纸本)9781595937636
In this paper we present Levels, a programming abstraction for energy-aware sensor network applications. Unlike most previous work it does not try to maximize network lifetime but rather helps to meet user-defined lifetime goals while maximizing application quality. Levels is targeted to applications where there is no redundancy and no node should fail early. With our programming abstraction the application developer defines so-called energy levels. These energy levels form a stack and can be deactivated from top to bottom if the lifetime goal cannot be met otherwise. Each code block within an energy level contains information about its energy consumption, which can be obtained from simulation tools without much effort. The runtime system then uses the data about the energy consumption of the different levels to compute an optimal level assignment for the time remaining. As we show in the evaluation, applications using Levels can accurately meet given lifetime goals and offer good application quality. In addition, the runtime overhead of our system is almost negligible.
Today's mobile applications require constant adaptation to their changing environments, or contexts. Technological advances have increased the pervasiveness of mobile computing devices such as laptops, handhelds, ...
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Today's mobile applications require constant adaptation to their changing environments, or contexts. Technological advances have increased the pervasiveness of mobile computing devices such as laptops, handhelds, and embedded sensors. The sheer amount of context information available for adaptation places a heightened burden on application developers as they must manage and utilize vast amounts of data from diverse sources. Facilitating programming in this data-rich environment requires a middleware that provides context information to applications in an abstract form. In this paper, we demonstrate the feasibility of such a middleware that allows programmers to focus on high-level interactions among programs and to employ declarative abstract context specifications in settings that exhibit transient interactions with opportunistically encountered components. We also discuss the novel context-aware abstractions the middleware provides and the programming knowledge necessary to write applications using it. Finally, we provide examples demonstrating the infrastructure's ability to support differing tasks from a wide variety of application domains.
作者：
Deacon, GEUniv Surrey
Sch Mech & Mat Mechatron Syst & Robot Res Grp Guildford GU2 5XH Surrey England Univ Edinburgh
Dept Artificial Intelligence Edinburgh EH8 9YL Midlothian Scotland
Robot manipulators were meant to be the production engineer's flexible friend. Assembly robots, however, have failed to fulfill their promise. The problem that has continuously plagued robotic assembly is that of ...
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Robot manipulators were meant to be the production engineer's flexible friend. Assembly robots, however, have failed to fulfill their promise. The problem that has continuously plagued robotic assembly is that of spatial uncertainty. It is our thesis that the ubiquitous problem of spatial uncertainty is an artefact of the fact that current industrial manipulators are designed for an operational paradigm that assumes position control is of primary importance. In this paper we propound an alternative approach based on sliding as the primary motion primitive. We first present a model that uses sliding to allow us to raise the level of abstraction of robot programming tasks. We then describe an inherently accommodating, (planar) three degree of freedom, direct-drive robot arm that was constructed to test our approach. Finally, we present data collected from representative (planar) manipulation tasks that substantiate our claims.
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