Universal communication architecture for high-dynamic robot systems using QNX

Kohn, Nnamdi; Varchmin, J.-U.; Steiner, Jens; Goltz, Ursula

doi:10.1109/icarcv.2004.1468823

Cited by 13 publications

(7 citation statements)

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“…PROSA-X is a generic architecture which is used to control several different robots. A specifically tailored middleware (MiRPA-X ) and a bus protocol that operates on top of a FireWire bus (IAP ) realize communication satisfying the hard real-time constraints [11]. The architecture is based on a layered design with multiple real-time layers within QNX 3 to realize e.g.…”

Section: Case Studymentioning

confidence: 99%

Integration of scheduling analysis into UML based development processes through model transformation

Hagner

Goltz

2010

Proceedings of the International Multiconference on Computer Science and Information Technology

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The complexity of embedded systems and their safety requirements have risen significantly in recent years. Models and the model based development approach help to keep overview and control of the development. Nevertheless, a support for the analysis of non-functional requirements, e.g. the scheduling, based on development models and consequently the integration of these analysis technologies into a development process exists only sporadically. The problem is that the analysis tools use different metamodels than the development tools. Therefore, a remodeling of the system in the format of the analysis tool or a model transformation is necessary to be able to perform an analysis. Here, we introduce a scheduling analysis view as a part of the development model, which is a MARTE annotated UML model to describe a system from the scheduling behavior point of view. In addition, we present a transformation from this annotated UML model to the scheduling analysis tool SymTA/S and a treatment of the analysis results to integrate scheduling analysis into a development process. With our approach it is not necessary to remodel the system in an analysis tool to profit from the analysis and its results. Additionally, we illustrate our approach in a case study on a parallel robot controller.

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Section: Case Studymentioning

confidence: 99%

Integration of scheduling analysis into UML based development processes through model transformation

Hagner

Goltz

2010

Proceedings of the International Multiconference on Computer Science and Information Technology

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“…It is based on a standard component IEEE1394 (FireWire) bus solution, an according bus protocol (IAP) and a real-time middleware (MiRPA-X). An in depth description of the communication layer can be found in [13].…”

Section: Iapmentioning

confidence: 99%

Runtime Analysis of a Self-Adaptive Hard Real-Time Robotic Control System

Steiner

Hagner

2007

Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems (EASe'07)

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This paper describes a software architecture for parallel kinematic machines and its evolvement to a self-adaptive system striving to optimize, protect and heal itself. Self-* properties are provided by selfmanager components that observe and manipulate their associated system parts. A development approach for the self-managers is outlined, as is a first realization of a self-manager responsible for the control core. This self-manager distributes control components during runtime and makes feasibility decisions based on a runtime schedulability analysis.

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“…The MC consists of the controller matrix -CM (explained later) and the task frame description (TFD). In the last years, the task frame formalism has proven to be a key to obtain a generic, task-specific motion description (Krö ger et al, 2004). The formalism presented in the cited paper is the most complete in literature and allows the use of moving reference systems, but is contradictionary to Mason's (1981) center of compliance concept in this particular case.…”

Section: Motion Commandmentioning

confidence: 99%

Definition and execution of a generic assembly programming paradigm

Maaß

Molkenstruck

Thomas

et al. 2008

Assembly Automation

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Purpose -This paper aims to introduce a generic robot-programming paradigm for assembly tasks that overcomes the strong coupling between the motion commands and underlying algorithms of programming languages currently on the market. Therefore, it allows an improved method of assembly task programming. Design/methodology/approach -A manipulation primitive (MP) is defined which decouples the programming concept from the algorithms. These primitives can be integrated into existing programming languages and are supported by an intuitive graph-based language which is introduced in this paper. An open reference architecture to support those primitive-based programming languages has been designed. Findings -It is possible to describe complex assembly tasks such as manipulation on conveyors or sensor-integrated compliant motion without abandoning the generality of the programming paradigm. Execution on a reference control system has proven to be successful for several manipulation tasks on different machines. Originality/value -A complete definition of the MP and a graphical language based on this primitive is given, accompanied by extensive detail information on crucial aspects of the control architecture such as modular trajectory generation, generic interfaces, and real-time task scheduling.

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Universal communication architecture for high-dynamic robot systems using QNX

Cited by 13 publications

References 1 publication

Integration of scheduling analysis into UML based development processes through model transformation

Integration of scheduling analysis into UML based development processes through model transformation

Runtime Analysis of a Self-Adaptive Hard Real-Time Robotic Control System

Definition and execution of a generic assembly programming paradigm

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