Networked Module Type Software Architecture for Tele-operator, and Dynamic Restructure of Task Flow Based on Operating Dependence Analysis

Abstract

In this paper the authors introduce an intelligent system architecture for teleoperators, which is composed with networked software modules based on Robotics Technologies Middleware(RT-Middleware). The architecture consists of one hardware layer and two software layers. The first software layer can provide its task design function with modules for a user, and the user doesn't need to care about the actual structure and management of module connection in the system. This makes it possible to respond flexibly to the situation. Modules are hierarchically connected with each other virtually through the database node module (DNM). From the viewpoint of module load balancing, the methodology of autonomous module assignment is crucial for its efficient operation. We discuss about the steepest descent method for dynamic placement of the module.