Communications structure for sensory data in mobile robots

Posadas, Juan Luis; Peréz, P.; Simó, José; Benet, G.; Noguera, Juan Francisco Blanes

doi:10.1016/s0952-1976(02)00055-6

Cited by 17 publications

(11 citation statements)

References 11 publications

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“…One of the most important problems of deploying mobile robots is that the environment around them is not static. Therefore, the mobile units should be capable of changing their path in case of any alterations in their surroundings [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Production Systems Using Open Architectures and Mobile Robotic Structures

et al. 2015

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This paper investigates the flexibility aspects of production systems that use highly interactive and autonomous mobile robotic units. Open communication architectures and ontology technologies enable the accurate representation of robot capabilities. Mobile robots can relocate themselves and support the production process, thus providing a higher reconfiguration potential. Services are used for real time transactions between stationary and mobile robots towards the implementation of a process plan. The units can cooperate and determine their course of actions. This approach was applied to an experimental cell, where the system managed to implement production plans for the packaging of small sized products without human intervention.

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Section: Introductionmentioning

confidence: 99%

Autonomous Production Systems Using Open Architectures and Mobile Robotic Structures

et al. 2015

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“…Frame Sensor Adapter to Control (FSA-Ctrl) is an architecture inspired by DDS and SWE models and is an evolution of an architecture developed by the research group called Frame Sensor Adapter (FSA) [12]. The architecture has two distinct areas: communication and control.…”

Section: Fsa-ctrl Architecturementioning

confidence: 99%

QoS-Based Middleware Architecture for Distributed Control Systems

Poza

Posadas

Simó

Advances in Soft Computing

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Abstract. This paper presents an implementation of a middleware architecture to control distributed systems. The main objective is providing a QoS level between the communications layer and the control layer. This architecture is based on the use of a hierarchical communications structure called "logical namespace tree" and a structured set of control processes interconnected, called "logical sensors graph". This architecture is named Frame Sensor Adapter Control (FSA-Ctrl). In this architecture communication layer and control layer can manage the QoS policies. The communication layer is based on the Data Distribution Service (DDS), a standard proposed by Object Management Group (OMG). Control layer is derived from the Sensor Web Enablement (SWE) model proposed by Open Geospatial Consortium (OGC). Middleware components use messages queues to manage components QoS requirements. By means of QoS policies, control components can take important decisions about distributed questions, like components mobility or information redundancy detection.

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“…La arquitectura, denominada FSACtrl, toma como punto de partida el modelo Frame Sensor Adapter (FSA) [Posadas et al, 2002] desarrollado íntegramente en el grupo de investigación, adicionándole las características de control del modelo SWE y ampliándolo con la calidad de control y la gestión de eventos, así como con las características de comunicaciones del modelo DCPS en lo que respecta al tratamiento de la calidad de servicio.…”

Section: Motivaciónunclassified

“…La clase LogicalSensorCommunication es la clase base de las clases DataWriter, DataReader y Listener que implementan la gestión de las comunicaciones y sirven de interfaz entre los canales de comunicaciones (implementados por medio de las clases Publisher y Subscriber, descritas en el siguiente subapartado) y los componentes de control implementados por la clase LogicalSensorControl. [Posadas et al, 2002], los Publisher y los Subscriber acceden a un servicio que realiza las tareas de cliente y de servidor. En cambio, si se emplea un canal de comunicaciones de gestión de datos por medio SQL, tanto los Publisher como los Subscriber se conectan a un cliente SQL, ya que las consultas SQL son síncronas y por tanto la solicitud y la respuesta de la consulta se realizan en la misma operación.…”

Section: Especificación Formalunclassified

Propuesta de arquitectura distribuida de control inteligente basada en políticas de calidad de servicio

Luján¹,

Luís²

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Communications structure for sensory data in mobile robots

Cited by 17 publications

References 11 publications

Autonomous Production Systems Using Open Architectures and Mobile Robotic Structures

Autonomous Production Systems Using Open Architectures and Mobile Robotic Structures

QoS-Based Middleware Architecture for Distributed Control Systems

Propuesta de arquitectura distribuida de control inteligente basada en políticas de calidad de servicio

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