Data Exchange Platform Dedicated to Distributed Control Systems

Strzelczyk, P.; Tomczewski, Krzysztof

doi:10.14313/par_225/53

Cited by 1 publication

(3 citation statements)

References 9 publications

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“…The control system that utilizes the middleware can be both centralized and distributed, requiring data exchange between multiple hardware units (instances). In order to realize local and distributed communication support, this middleware has two communication layers: LNCL (Local Node Communication Layer) and GNCL (Global Node Communication Layer) [45]. The former is responsible for communication between different parts of the middleware within an instance.…”

Section: Middlewarementioning

confidence: 99%

“…In a system consisting of multiple middleware instances located in distributed network elements, the GNCL layer is used to transfer information between two instances [45]. This layer allows messages to be sent between the nodes of the system, i.e., the hardware modules.…”

Section: Middlewarementioning

confidence: 99%

“…The developed middleware is also equipped with an automatic module detection mechanism. The detection is done through mechanisms implemented in the Node Detection Layer (NDL) [45]. This layer allows to specify the list of available modules running under middleware control and provides node addresses.…”

Section: Middlewarementioning

confidence: 99%

See 2 more Smart Citations

The Middleware for an Exoskeleton Assisting Upper Limb Movement

Strzelczyk

Tomczewski

Wrobel

2022

Sensors

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This article presents the possibilities of newly developed middleware dedicated for distributed and modular control systems. The software enables the exchange of information locally, within one control module, and globally, between many modules. The executed information exchange system speed tests confirmed the correct operation of the software. The middleware was used in the control system of the active upper-limb exoskeleton. The upper-limb rehabilitation exoskeleton structure with six degrees of mechanical freedom is presented. The tests were performed using the prototype with three joints. The drives’ models of individual joints were developed and simulated. As a result, the courses of the motion trajectory were shown for different kinds of pressure on the force sensors, and different methods of signal filtering. The tests confirmed a correct operation of middleware and drives control system.

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Section: Middlewarementioning

confidence: 99%

Section: Middlewarementioning

confidence: 99%