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System and its characteristics of robot soccer over the Internet

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2005年第SUPPL.期36卷 220-224页

作者： Hao, Li-Na Li, Qing-Yun Xu, Xin-He Laboratory of Process Industry Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics College of Information Science and Engineering Northeastern University Shenyang 110004 China

This paper studies the necessity of the robot soccer over the Internet on the basis of analysing the tele-operation system, presents a new system architecture of the robot soccer over the Internet based on C/S, describes the information flowchart of the local site and the remote sites, realizes a human-robots interactive game over the internet, does some researches on its characteristics, and describes the architecture, software programming and the key technology of each parts in details. The whole system adopts the technology of Windows operation system, VC+ +, and Winsock network programming. The distributed simulation system of robot soccer over the Internet is based on HLA. The competitions that rely on the regulations were finished. The results show that this system can simulate the whole process of soccer competitions of human being, and meet the demands of stability and reliability.

关键词： HLA Robot soccer over the Internet Simulation system Teleoperation

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A real-time Java system on a multithreaded Java microcontroller

A real-time Java system on a multithreaded Java microcontrol...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M. Pfeffer S. Uhrig T. Ungerer U. Brinkschulte Institute for Computer Science University of Augsburg Augsburg Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a real-time Java hardware and software system for use in embedded applications. The system includes a multithreaded Java microcontroller, an adapted Java Virtual Machine (JVH) and an extended application programming interface (API). The microcontroller core is designed with a multithreaded pipeline and hardware support for real-time scheduling algorithms. The Java Virtual Machine consists of trap routines for complex Java byte-codes, real-time garbage collection and a class loader for creating real-time data structures. On a higher level, the application programming interface provides easy real-time thread management and access to hardware components like serial interfaces and timer/counter units.

关键词： Java Real time systems Microcontrollers Hardware Application software Virtual machining Software systems Algorithm design and analysis Pipelines Scheduling algorithm

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Texture mapping based visualisation methods for the manipulation of ct data: Interaction and ergonomics

Texture mapping based visualisation methods for the manipula...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

The manipulation of large CT datasets needs fast visualisation methods for a comfortable user interaction. Modern visualisation techniques make use texture hardware in graphics workstations extensively. In the following we will present an interactive tool for the positioning of anatomical landmarks in CT datasets of non-pathological children. The tool includes a fast visualisation of CT cross sections based on a texture mapping technique and an interactive three-dimensional view of the segmented CT dataset.

关键词： Ergonomics

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Clinical evaluation of a highly accurate algorithm for CT bone contour segmentation

Clinical evaluation of a highly accurate algorithm for CT bo...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Burghart, C. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are still based on time consuming interactive methods like the seed-point segmentation. Faster methods with no need for interactivity lacks in precision. In the following we will present an automatic and highly accurate algorithm for the segmentation of bone contours in CT data. It is based on an algorithm for the automatic calculation of a grey-value tissue relation model for CT and MRI data.

关键词： Bone

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A real-time CORBA based system architecture for robot assisted craniofacial surgery

A real-time CORBA based system architecture for robot assist...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Burghart, C. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Rembold, U. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.

关键词： Common object request broker architecture (CORBA)

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Real-time scheduling on multithreaded processors

Real-time scheduling on multithreaded processors

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： J. Kreuzinger A. Schulz M. Pfeffer T. Ungerer U. Brinkschulte C. Krakowski Institute for Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper investigates real-time scheduling algorithms on upcoming multithreaded processors. As evaluation testbed we introduce a multithreaded processor kernel which is specifically designed as core processor of a micro-controller or system-on-a-chip. Handling of external real-time events is performed through multithreading. Real-time threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed micro-controller supports multiple ISTs with zero-cycle context switching overhead. We investigate the behavior of fixed priority preemptive, earliest deadline first, least laxity first and guaranteed percentage scheduling with respect to multithreaded processors. Our finding is that the strategies GP and LLF result in a good blending of instructions of different threads thus enabling a multithreaded processor to utilize latencies best. Assuming a zero-cycle context switch LLF performs best, however implementation cost context, are prohibitive.

关键词： processor scheduling Yarn Switches Scheduling algorithm System testing Kernel process design System-on-a-chip Multithreading Delay

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The Komodo project: Thread-based event handling supported by a multithreaded Java microcontroller

The Komodo project: Thread-based event handling supported by...

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25th EUROMICRO Conference on Informatics: Theory and Practice for the New Millennium, EUROMICRO 1999

作者： Kreuzinger, J. Marston, R. Ungerer, Th. Brinkschulte, U. Krakowski, C. Dept. of Computer Design and Fault Tolerance University of Karlsruhe D-76128 Karlsruhe Germany Dept. for Process Control Automation and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)0769503217

The Komodo project concerns the handling of multiple real-time events by Java threads that are supported by a multithreaded Java microcontroller. The architecture of the processor core and resulting implications are considered. The use of thread-based event handling is introduced and explained in combination with an Automatic Guided Vehicle (AGV) application. The advantages of thread-based event handling over a normal Interrupt Service Routine (ISR) strategy are demonstrated by the development of the AGV example. © 1999 IEEE.

关键词： Automatic guided vehicles

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A multithreaded Java microcontroller for thread-oriented real-time event-handling

A multithreaded Java microcontroller for thread-oriented rea...

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International Conference on Parallel Architecture and Compilation Techniques (PACT)

作者： U. Brinkschulte C. Krakowski J. Kreuzinger T. Ungerer Institute of Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany Institute of Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany

We propose a multithreaded Java microcontroller (called Komodo microcontroller) with a new hardware event handling mechanism that allows handling of simultaneous overlapping events with hard real-time requirements. Real-time Java threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed Komodo microcontroller supports multiple ISTs with zero-cycle context switching overhead. We evaluate the basic architectural attributes using real-time event parameters of an autonomous guided vehicle. When calculating the maximum vehicle speed without violating the real-time constraints, ISTs dominate ISRs by a speed increase of 28%.

关键词： Java Microcontrollers Switches Embedded system Yarn Application software Real time systems Hardware Multithreading process control

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ASTM E1989-98 — The New Instrument Control Standard

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SLAS Technology 1999年第3期4卷 40-42页

作者： Torsten A. Staab John W. Elling U.S. Department of Energy Los Alamos National Laboratory Engineering Sciences and Applications Division Energy and Process Engineering Group Automation and Robotics Team Los Alamos NM 87545 USA

The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.

关键词： instrument control standard plug-and-play laboratory automation equipment control standard interface standard behavior standard Laboratory Equipment Control Interface Specification

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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