Distributed Sensor Architecture for Intelligent Control that Supports Quality of Control and Quality of Service

Abstract

This paper is part of a study of intelligent architectures for distributed control and communications systems. The study focuses on optimizing control systems by evaluating the performance of middleware through quality of service (QoS) parameters and the optimization of control using Quality of Control (QoC) parameters. The main aim of this work is to study, design, develop, and evaluate a distributed control architecture based on the Data-Distribution Service for Real-Time Systems (DDS) communication standard as proposed by the Object Management Group (OMG). As a result of the study, an architecture called Frame-Sensor-Adapter to Control (FSACtrl) has been developed. FSACtrl provides a model to implement an intelligent distributed Event-Based Control (EBC) system with support to measure QoS and QoC parameters. The novelty consists of using, simultaneously, the measured QoS and QoC parameters to make decisions about the control action with a new method called Event Based Quality Integral Cycle. To validate the architecture, the first five Braitenberg vehicles have been implemented using the FSACtrl architecture. The experimental outcomes, demonstrate the convenience of using jointly QoS and QoC parameters in distributed control systems.

Generación automática de código de aplicaciones robóticas manipuladoras para el Middleware de ROS

“…Por una parte, es necesario tener un reconocimiento completo del entorno donde se mueve el robot pudiendo haber en ocasiones problemas de oclusión de objetos. Por otro lado, una vez localizado el objeto, se ha de definir un control de trayectorias para poder seguirlo de manera apropiada, evitando cualquier tipo de colisión con otros objetos incluidos en la escena [15]. Este caso de estudio describe cómo el robot humanoide Meka realiza la tarea de seguimiento con los dos brazos de un objeto en movimiento, lo cual, implica no solamente la localización 3D del objeto sino también el control de trayectoria de los dos brazos para evitar cualquier tipo de colisión.…”

Dynamic Reconfiguration of a RGBD Sensor Based on QoS and QoC Requirements in Distributed Systems

“…Through the evaluation of some measures like deadlines or timestamps, among other QoS measures, they offer mechanisms to warn about communication problems such as delays or data loss. As some examples, in [ 16 ] a QoS-based application for the enhancement of manufacturing communication networks is introduced, while in [ 17 ] the implementation of QoS aware mechanisms for dealing with real-time embedded databases is detailed and the work presented in [ 18 ] shows an application of QoS in mobile robotics systems.…”

Distributed Density Estimation Based on a Mixture of Factor Analyzers in a Sensor Network

“…Sensor networks are composed of tiny, intelligent sensor nodes that are deployed over a geographic region. This type of network has a broad range of applications, such as environmental monitoring, precision agriculture and military surveillance [ 1 , 2 , 3 ]. Distributed estimation over sensor networks is to estimate some parameters of interest through local computation and information exchange among neighbor nodes.…”