Centralized processing and distributed I/O for robot control

Kazanzides, Peter; Thienphrapa, Paul

doi:10.1109/tepra.2008.4686678

Cited by 14 publications

(6 citation statements)

References 5 publications

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“…Given the bus speed of 400 Mbps, we concluded that software overheads were a predominant factor in the latency, as in [13]. As we concluded in [19], it became necessary to bundle the data for multiple axes into blocks in order to overcome these limitations. Figure 7 shows a raw sampling of read/write times over the full range of block sizes (in quadlets, the smallest unit in IEEE 1394), up to the maximum of 512 quadlets for the 400 Mbps mode.…”

Section: Resultsmentioning

confidence: 80%

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A scalable system for real-time control of dexterous surgical robots

Thienphrapa

Kazanzides

2009

2009 IEEE International Conference on Technologies for Practical Robot Applications

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The requisite cabling and control processing for surgical robots can become unwieldy as dexterity is increased, due to the additional degrees of freedom. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper details the development of a low-level control system that uses IEEE 1394 (FireWire), linking the computer to low-latency field-programmable gate arrays, to distribute I/O while centralizing all control computations. A standard programming interface is defined as part of the control system to enhance its scalability. These features increase the viability of complex surgical robots and ease their development by reducing cables and enabling the processing of many axes of control on a single computer.

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Section: Resultsmentioning

confidence: 80%

“…The high speed serial bus encourages the distributed I/O and centralized processing architecture we presented in [19]. One advantage of this approach is that the I/O processing logic is simple and requires little maintenance.…”

Section: Motivations and Objectivesmentioning

confidence: 99%

A scalable system for real-time control of dexterous surgical robots

Thienphrapa

Kazanzides

2009

2009 IEEE International Conference on Technologies for Practical Robot Applications

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“…In [6], a distributed I/O with centralized processing architecture using a communication network based on IEEE 1394 (FireWire) is presented. This kind of system is very suitable for research purposes as it keeps the peripheral management simple, while maintaining a reduced number of cables.…”

Section: Related Workmentioning

confidence: 99%

“…Finally, despite the high-speed transmission and reduced cabling of FireWire, as presented in [6], it has a reduced performance when implementing several nodes due to the high fixed latency in read and write operations.…”

Section: B Network Systemmentioning

confidence: 99%

Design of a modular distributed control system for robotic exoskeletons

Rossi

Forner-Cordero

Ramirez-Fernandez

2012

2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and Robotics for Better and Safer Living (BRC)

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In this paper a modular distributed control architecture for robotic exoskeletons is presented. On a research environment, an exoskeleton can be used for experimental studies on several fields, such as motor control, assistive technologies or ergonomics. However, robotic exoskeletons are usually very expensive and time demanding to build, leading to a limited number of existing prototypes. A modular open system may enable the use of a single exoskeleton device for different several simultaneous researches leading to a better resource utilization. A first step in the development of an open modular exoskeleton is the design of a distributed and modular control architecture for these devices. The presented architecture was divided into tree modules: central processor, nodes and network system. Although this approach is not completely novel, it is innovative on the fact that these three modules follow a standardization in order to enable direct replacement without modification on the other modules. The network system is the only application independent and a custom network was designed in order to be simple to implement without requiring advanced technical knowledge and without a loss of performance. In addition to the advantage of being flexible and easy to modify, the presented architecture enables the implementation of bio-inspired hierarchical control routines, thus being suitable to validate theories and mathematical models.

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“…Most existing controllers use multi-processing; one compelling reason is that computation is often physically distributed. We advocate a new approach, where processing is centralized and I/O is distributed [1]. We contend that this is feasible due to advances in processor performance, especially multicore architectures, coupled with the high data rates of modern serial networks.…”

Section: Introductionmentioning

confidence: 99%

An architecture for safe and efficient multi-threaded robot software

Kazanzides

Deguet

Kapoor

2008

2008 IEEE International Conference on Technologies for Practical Robot Applications

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This paper describes the application of component-based software engineering concepts to the development of a C++ software library for multi-threaded robot control. The components in this design are tasks; each task encapsulates a thread and contains a state table and message queues for efficient thread-safe data exchange. A task can provide multiple interfaces, which is useful when the underlying hardware offers diverse capabilities. Communication between tasks is loosely coupled and relies on command objects that can implement both commands and events. The system is dynamically configurable because all components are self-describing. This enables an effective Interactive Research Environment (IRE), which provides a Python shell to configure and interact with the executing software. This library is part of the open source cisst software package for computer-assisted surgery systems and can be obtained from www.cisst.org/cisst.

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Centralized processing and distributed I/O for robot control

Cited by 14 publications

References 5 publications

A scalable system for real-time control of dexterous surgical robots

A scalable system for real-time control of dexterous surgical robots

Design of a modular distributed control system for robotic exoskeletons

An architecture for safe and efficient multi-threaded robot software

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