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Evaluation of the komodo microcontroller and the OSA+ middleware using an autonomous guided vehicle

Evaluation of the komodo microcontroller and the OSA+ middle...

引用

9th IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, ISORC 2006

作者： Brinkschulte, Uwe Pacher, Mathias Picioroaga, Florentin Gaa, Stefan Institute for Process Control and Robotics University of Karlsruhe

ISBN: (纸本)076952561X

The main focus of this work is to evaluate and study the real-time properties of the Komodo Java microcontroller and the OSA+ middleware in a non-trivial real-world example. We describe an approach to control an autonomous guided vehicle (AGV) by the Komodo microcontroller, a multi-threaded Java microcontroller. The main challenge is that the microcontroller has to meet hard real-time constraints to ensure a faultless drive. Then we show that we are also able to run the AGV using a real-time middleware and we measure the overhead in time and memory introduced by the middleware. © 2006 IEEE.

关键词： Microcontrollers

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Cooperative solving of a children's Jigsaw puzzle between human and robot: First results

Cooperative solving of a children's Jigsaw puzzle between hu...

引用

2006 AAAI Workshop

作者： Burghart, Catherina Gaertner, Christian Woern, Heinz Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)1577352858

Intelligent human robot cooperation still is a challenging field of research. At the institute of process control and robotics at the University of Karlsruhe we intend to use an anthropomorphic robot to learn how to solve a children's jigsaw puzzle together with a human tutor. Instead of choosing a straight forward engineer's approach, we have decided to combine a psychologist's and a computer scientist's views;the first results are presented in this paper. Copyright © 2006, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Computer supported cooperative work

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Autonomous execution of automatically planned robot tasks based on force torque maps

Autonomous execution of automatically planned robot tasks ba...

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作者： Thomas, Ulrike Movshyn, Alexander Wahl, Friedrich M. Institute for Robotics and Process Control Technical University of Braunschweig Germany Technical University of Braunschweig

A new assembly planning system, PiRATE (Planning Robot Assembly Tasks for Execution) has been developed to generate and evaluate assembly sequences automatically with the help of force torque maps to close the gap between task planning and execution. PiRATE is able to generate and evaluate assembly sequences for real industrial assemblies. Force torque maps are computed automatically to provide a complete chain from assembly planning to assembly execution for each robot task. These maps are used during execution of the assembly task. The localization problem has been successfully solved in mobile robotics using the Bayesian methods. The start positions had larger distances to the goal position and thus representative forces and torques were too small in some cases, but calibrating PiRATE with the real work cell will lead to smaller uncertainties.

关键词： robotics

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A standard communication interface for industrial robots and processor based peripherals - XIRP

A standard communication interface for industrial robots and...

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作者： Gauss, Michael Dai, Fan Som, Franz Zimmermann, Uwe E. Woern, Heinz Institute for Process Control and Robotics Universität Karlsruhe Germany ABB Corporate Research Germany Reis Robotics Germany KUKA Roboter Germany

XML Interface for Robots and Peripherals (XIRP) is a standard communication interface for industrial robots and processor based peripherals. The XIRP defines and spreads a standard communication protocol for robots and sensors/actors, which allows reuse of software components. XIRP protocol is a seam tracking application whereby a vision sensor at the robot arm is used to control the robot movement. It is a very simple device, which is not in focus and not intended as a universal interface. The interesting features of XIRP are the standardized device description, commands, and parameters are defined as XML schemas. The device description and command schemas of a certain device/application can be downloaded via HTTP on port 80.

关键词： Interfaces (computer)

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Evaluation of the Komodo microcontroller and the OSA+ middleware using an autonomous guided vehicle

Evaluation of the Komodo microcontroller and the OSA+ middle...

引用

International Symposium on Object-Oriented Real-Time Distributed Computing

作者： U. Brinkschulte M. Pacher F. Picioroaga S. Gaa Institute for Process Control and Robotics University of Karlsruhe Germany

关键词： Microcontrollers Middleware Remotely operated vehicles Mobile robots Java robotics and automation Computer languages Hardware process control Time measurement

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Towards an organic middleware for real-time applications

Towards an organic middleware for real-time applications

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M. Pacher A. von Renteln U. Brinkschulte Institute for Process Control and Robotics University of Karlsruhe Germany

This paper presents the architecture and conception of an organic middleware based on the yet existing, not organic middleware OSA+. We show new general design principles helping to establish the self-organizing middleware which can be used for totally different applications like robotics, warehouse management and the planning of a person's daily routine

关键词： Middleware Embedded system Robots Distributed computing process control Microcontrollers Programming profession Stability Costs Universal Serial Bus

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6D Force and Acceleration Sensor Fusion for Compliant Manipulation control

6D Force and Acceleration Sensor Fusion for Compliant Manipu...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Torsten Kroger Daniel Kubus Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper focusses on sensor fusion in robotic manipulation: 6D force/torque signals and 6D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Beside an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations, and calculations that are required for this 6D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented, and the achieved results are discussed

关键词： Force sensors Acceleration Sensor fusion Force control Torque control Robot sensing systems Force measurement Velocity control Intelligent robots Torque measurement

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Towards On-Line Trajectory Computation

Towards On-Line Trajectory Computation

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Torsten Kroger Adam Tomiczek Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper proposes a new way of trajectory generation for industrial manipulators. A real-time algorithm for the interpolation of synchronized and time-optimal manipulator trajectories with arbitrary input values is presented. The method has been developed and implemented for multi-sensor systems, where sensor events can abruptly change desired target positions and trajectory constraints from one control cycle to another (i.e. maximum velocities, accelerations, and jerks). This work mainly presents a simple on-line second-order-trajectory generator and gives an outlook to a third-order-trajectory generator. Both algorithms generate time-optimal position progressions and require computational three steps: A. determination of the degree of freedom that requires the longest execution time, B. synchronization of all degrees of freedom by adapting maximum velocities and accelerations, C. calculation of new output values (position, velocity, and acceleration). Experimental results as well as a description of how to integrate this approach into manipulation control architectures are presented

关键词： Trajectory Acceleration Path planning Velocity control Intelligent robots Manipulator dynamics Service robots process control Computer industry Electrical equipment industry

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Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning

Distributed Sensing and Prediction of Obstacle Motions for M...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thorsten Rennekamp Kai Homeier Torsten Kroeger Institute for Robotics and Process Control Technical University of Braunschweig Germany

This work recommends an architecture and its fundamental components for motion planning for mobile robots in dynamic environments. An adaptive behavior to typical motion patterns of people is essential for robots to be accepted in crowded environments. This adaptation is achieved by a global and distributed sensing system to detect obstacle motions and model motion behavior. This article focuses on the detection, the modeling and the prediction of obstacle motion behavior. The model consists of a dynamic Bayesian network. The topology of the network is a geometric graph

关键词： Mobile robots Motion planning Predictive models Robot sensing systems Network topology Path planning Intelligent robots process planning Motion detection Bayesian methods

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Event-based Production Rules for Data Aggregation in Wireless Sensor Networks

Event-based Production Rules for Data Aggregation in Wireles...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Michael Wenz Heinz Worn Institute for Process Control and Robotics (IPR) Universitat Karlsruhe Karlsruhe Germany

Traditional sensor networks assume that the sensors are pre-programmed and send their data to a central station where the data is aggregated and analysed. However, energy is a major bottleneck resource in wireless sensor networks, e.g. the lifespan of a node is often determined by its battery lifespan. Since each transmitted bit consumes network power it is necessary to reduce the number of sent messages by pre-processing data. Furthermore scalability issues also demand data processing inside the sensor network. After an introduction and the review of the state of the art with respect to data aggregation, three motivating applications are discussed and then the data aggregation problem is explored by means of event-based production rules. The basic constructs of our aggregation approach are facts, patterns, rules, actions and functions. More energy-rich nodes are used as cluster heads that perform rule-based data processing and aggregation operations within local regions of the network. Rules are usually application specific and provide robust interpretations of sensor readings including the generation of warnings. They are used to encode knowledge and to deal with large sets of rapidly changing data

关键词： Production Wireless sensor networks Sensor phenomena and characterization Intelligent sensors Data processing Intelligent networks Energy consumption Scalability Mobile communication Intelligent systems

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