Software architecture for a multi-purpose real-time control unit for research purposes

XBot: A Cross-Robot Software Framework for Real-Time Control

10.5772/intechopen.97066 ◽

2021 ◽

Author(s):

Luca Muratore ◽

Arturo Laurenzi ◽

Nikos G. Tsagarakis

Keyword(s):

Software Architecture ◽

Real Time ◽

Humanoid Robots ◽

Robotic Systems ◽

Real Time Control ◽

Software Infrastructure ◽

Robotic Arms ◽

Time Control ◽

Control Frequency ◽

High Control

The widespread use of robotics in new application domains outside the industrial workplace settings requires robotic systems which demonstrate functionalities far beyond that of classical industrial robotic machines. The implementation of these capabilities inevitably increases the complexity of the robotic hardware, control a and software components. This chapter introduces the XBot software architecture for robotics, which is capable of Real-Time (RT) performance with minimum jitter at relatively high control frequency while demonstrating enhanced flexibility and abstraction features making it suitable for the control of robotic systems of diverse hardware embodiment and complexity. A key feature of the XBot is its cross-robot compatibility, which makes possible the use of the framework on different robots, without code modifications, based only on a set of configuration files. The design of the framework ensures easy interoperability and built-in integration with other existing software tools for robotics, such as ROS, YARP or OROCOS, thanks to a robot agnostic API called XBotInterface. The framework has been successfully used and validated as a software infrastructure for collaborative robotic arms as KUKA lbr iiwa/lwr 4+ and Franka Emika Panda, other than humanoid robots such as WALK-MAN and COMAN+, and quadruped centaur-like robots as CENTAURO.

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An integrated software architecture for the pollution-based real-time control of urban drainage systems

Journal of Hydroinformatics ◽

10.2166/hydro.2021.149 ◽

2021 ◽

Author(s):

Luis Romero ◽

Bernat Joseph-Duran ◽

Congcong Sun ◽

Jordi Meseguer ◽

Gabriela Cembrano ◽

...

Keyword(s):

Software Architecture ◽

Real Time ◽

Process Model ◽

Drainage System ◽

Urban Drainage ◽

Real Time Control ◽

Simulation And Optimization ◽

Management Scenario ◽

Time Control ◽

Integrated Software

Abstract This paper presents a complete methodology for the development of an integrated software architecture, which can achieve a closed-loop application between the integrated real-time control (RTC) and a virtual reality simulation for the urban drainage system (UDS). Quality measurements are considered during the simulation and optimization process. Model predictive control (MPC) and rule-based control (RBC) are the two main RTC methods embedded in this architecture. The proposed integration environment allows the different software components to efficiently and effectively communicate and work in a system-wide way, as well as to execute all the necessary steps regarding input parameters management, scenario configuration and results extraction. The proposed approaches are implemented into a pilot based on the Badalona UDS (Spain). Results from different scenarios with individual control approaches and rain episodes are evaluated and discussed.

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The Design of Yarn Constant Tension Feeder System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.274.294 ◽

2013 ◽

Vol 274 ◽

pp. 294-298

Author(s):

Mei Lan Zhou ◽

Yan Hui Fu ◽

Zhen Qiu He ◽

Rui Liu

Keyword(s):

Real Time ◽

Error Detection ◽

Low Cost ◽

Dynamic Performance ◽

Control Unit ◽

Motor Speed ◽

Real Time Control ◽

Yarn Tension ◽

Time Control ◽

Constant Tension

A novel constant tension yarn feed control system for automatic winder is presented in this paper which is based on analyzing the principle of the generation of yarn tension and the factors which make the tension fluctuate. DSP28035 made by TI (Texas Instruments) is adopted as the main control unit of the system to acquire the real-time yarn tension which is transmitted from a yarn tension sensor. Intelligent PID (proportional-integral-derivative) algorithm is also adopted to achieve a high-dynamic performance and an ultra-low inertia servo motor speed digital control to realize constant yarn tension feed. The system not only have the function of tension setting, over current protection, error detection and alarm, but also possess the features of simple structure, low cost, real-time control and high accuracy.

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Based on PMAC Control 4-DOF Manipulator

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.989-994.3132 ◽

2014 ◽

Vol 989-994 ◽

pp. 3132-3135

Author(s):

Jin Wei Fan ◽

Yi Jia Liu ◽

Ling Chen ◽

Chao Liu

Keyword(s):

Control System ◽

Cost Saving ◽

Software Architecture ◽

Real Time ◽

High Efficiency ◽

High Reliability ◽

Hardware Architecture ◽

Motion Controller ◽

Real Time Control ◽

Time Control

To complete the step of pacing bolts more accurate and efficient in factory, This article design the 4-DOF manipulator Based on PMAC motion controller, including hardware architecture, software architecture. This control system combines the IPC strong management and real-time control of PMAC to achieve a 4-axis robot, smooth fast-precision, high efficiency, high reliability, cost-saving design goals.

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A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

Methods of Information in Medicine ◽

10.1055/s-0038-1634619 ◽

1995 ◽

Vol 34 (05) ◽

pp. 475-488

Author(s):

B. Seroussi ◽

J. F. Boisvieux ◽

V. Morice

Keyword(s):

Real Time ◽

Linear Time ◽

Treatment Plan ◽

Control Architecture ◽

Real Time Control ◽

Time Representation ◽

Time Control ◽

Continuous Support ◽

Definition Of ◽

Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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