scholarly journals The Implementation of a Hierarchical Hybrid Navigation System for a Mobile Robotic Vehicle

2021 ◽  
Author(s):  
◽  
Buddika Kasun Talwatta
Keyword(s):  
Control System ◽  
Robot Control ◽  
Service Oriented Architecture ◽  
Infrared Sensors ◽  
Current State ◽  
Service Oriented ◽  
Software And Hardware ◽  
Differential Drive Robot ◽  
Robotic Vehicle ◽  
State Of The Environment

<p>One of the challenges of robotics is to develop a robot control system capable of obtaining intelligent, suitable responses to dynamic environments. The basic requirements for accomplishing this is a robot control architecture and a hardware platform that can adapt the software and hardware to the current state of the environment. This has led researchers to design control architectures composed of distributed, independent and asynchronous behaviours. In line with this research, this thesis details the development of a control system which adopts a hierarchical hybrid navigation architecture designed at Victoria University of Wellington. The implementation of the control system is aimed towards one of Victoria University of Wellington’s fleet of mobile robotic platforms called MARVIN. MARVIN is a differential drive robot and the sensory equipment on the device includes infrared sensors and odometry. The control system has been implemented in C# .NET programming language adopting a Service- Oriented Architecture. This software framework provides several services along with a graphical user interface to configure the control system. Several experiments have been carried out to test the control system and the results indicate that the features of the navigation architecture have been accomplished</p>

scholarly journals The Implementation of a Hierarchical Hybrid Navigation System for a Mobile Robotic Vehicle

2021 ◽  
Author(s):  
◽  
Buddika Kasun Talwatta
Keyword(s):  
Control System ◽  
Robot Control ◽  
Service Oriented Architecture ◽  
Infrared Sensors ◽  
Current State ◽  
Service Oriented ◽  
Software And Hardware ◽  
Differential Drive Robot ◽  
Robotic Vehicle ◽  
State Of The Environment

<p>One of the challenges of robotics is to develop a robot control system capable of obtaining intelligent, suitable responses to dynamic environments. The basic requirements for accomplishing this is a robot control architecture and a hardware platform that can adapt the software and hardware to the current state of the environment. This has led researchers to design control architectures composed of distributed, independent and asynchronous behaviours. In line with this research, this thesis details the development of a control system which adopts a hierarchical hybrid navigation architecture designed at Victoria University of Wellington. The implementation of the control system is aimed towards one of Victoria University of Wellington’s fleet of mobile robotic platforms called MARVIN. MARVIN is a differential drive robot and the sensory equipment on the device includes infrared sensors and odometry. The control system has been implemented in C# .NET programming language adopting a Service- Oriented Architecture. This software framework provides several services along with a graphical user interface to configure the control system. Several experiments have been carried out to test the control system and the results indicate that the features of the navigation architecture have been accomplished</p>

Identifying Services in Procedural Programs for Migrating Legacy System to Service Oriented Architecture

2013 ◽  
pp. 237-255
Author(s):  
Masahide Nakamur ◽  
Hiroshi Igaki ◽  
Takahiro Kimura ◽  
Kenichi Matsumoto
Keyword(s):  
Control System ◽  
Service Oriented Architecture ◽  
Data Flow ◽  
Source Code ◽  
Flow Diagram ◽  
Service Oriented ◽  
Data Flow Diagram ◽  
And Control ◽  
Dependent Processes

In order to support legacy migration to the service-oriented architecture (SOA), this paper presents a pragmatic method that derives candidates of services from procedural programs. In the SOA, every service is supposed to be a process (procedure) with (1) open interface, (2) self-containedness, and (3) coarse granularity for business. Such services are identified from the source code and its data flow diagram (DFD), by analyzing data and control dependencies among processes. Specifically, first the DFD must be obtained with reverse-engineering techniques. For each layer of the DFD, every data flow is classified into three categories. Using the data category and control among procedures, four types of dependency are categorized. Finally, six rules are applied that aggregate mutually dependent processes and extract them as a service. A case study with a liquor shop inventory control system extracts service candidates with various granularities.

Towards Whole-of-Government EA with TOGAF and SOA

2012 ◽  
pp. 177-204 ◽  
Author(s):  
Awel S Dico
Keyword(s):  
Enterprise Architecture ◽  
Service Oriented Architecture ◽  
Current State ◽  
Architecture Framework ◽  
Service Oriented ◽  
Technical Factors ◽  
Government Enterprise ◽  
Value Realization ◽  
Strategic Transformation ◽  
Limited Scope

Governments around the world have acknowledged the complexity associated with public sector transformation and have initiated enterprise architecture programs to help manage those complexities and enable the desired strategic transformation. Along with the EA program, governments have adopted some sort of EA framework and/or Service Oriented Architecture (SOA) individually or in integrated form. However, the majority of those EA programs are of limited scope in both EA and SOA practices, and are not comprehensive enough to deal with and manage the associated complexities. As a result, those EA programs suffer from the inability to leverage EA and SOA benefits across agencies or jurisdictional boundaries. Currently, the majority of government agencies use EA and SOA within the agency boundaries to deliver solutions by focusing on technical factors that define detailed blueprints of systems, data, and technology. What is needed rather is effective Whole-of-Government Enterprise Architecture (EA) that facilitates the alignment of individual agencies’ visions with the Whole-of-Government vision to enable sustainable government transformation. Research has pointed out that the Whole-of-Government EA is currently at the conceptual level and still has a long way to go to reach the maturity level required for value realization. This chapter first gives a brief analysis of the current state of enterprise architecture in governments to highlight the current challenges. It then discusses the various scopes of Whole-of-Government EA and recommends the plausible EA approach to enable sustainable connected government based on The Open Group Architecture Framework (TOGAF) and SOA.

Identifying Services in Procedural Programs for Migrating Legacy System to Service Oriented Architecture

2011 ◽  
Vol 3 (4) ◽  
pp. 54-72 ◽  
Author(s):  
Masahide Nakamur ◽  
Hiroshi Igaki ◽  
Takahiro Kimura ◽  
Kenichi Matsumoto
Keyword(s):  
Control System ◽  
Service Oriented Architecture ◽  
Data Flow ◽  
Source Code ◽  
Flow Diagram ◽  
Service Oriented ◽  
Data Flow Diagram ◽  
And Control ◽  
Dependent Processes

In order to support legacy migration to the service-oriented architecture (SOA), this paper presents a pragmatic method that derives candidates of services from procedural programs. In the SOA, every service is supposed to be a process (procedure) with (1) open interface, (2) self-containedness, and (3) coarse granularity for business. Such services are identified from the source code and its data flow diagram (DFD), by analyzing data and control dependencies among processes. Specifically, first the DFD must be obtained with reverse-engineering techniques. For each layer of the DFD, every data flow is classified into three categories. Using the data category and control among procedures, four types of dependency are categorized. Finally, six rules are applied that aggregate mutually dependent processes and extract them as a service. A case study with a liquor shop inventory control system extracts service candidates with various granularities.

Developing Service Oriented Robot Control System

2014 ◽  
Author(s):  
Davide Brugali ◽  
Andrea Fernandes da Fonseca ◽  
Andrea Luzzana ◽  
Yamuna Maccarana
Keyword(s):  
Control System ◽  
Robot Control ◽  
Service Oriented ◽  
Robot Control System

scholarly journals Design of Cross-Country Robot Control System Based on Wireless Communication Module

2011 ◽  
Vol 2-3 ◽  
pp. 269-272
Author(s):  
Shi Yu Yan ◽  
Chong Liu ◽  
Yun Gong Li ◽  
Hong Wang
Keyword(s):  
Control System ◽  
Robot Control ◽  
The Other ◽  
Hardware System ◽  
Communication Module ◽  
Machine Interface ◽  
Software And Hardware ◽  
Cross Country ◽  
The Cross ◽  
Upper Computer

This paper describes the design of the cross-country robot’s control system. It mainly includes two parts, one is the software and hardware system for the lower computer, the other is the man-machine interface for the upper computer. The core of the hardware system is MCU; it controls double relays to drive the motor’s positive and negative rotations, and accordingly carries out the cross-country robot’s forward, backward and other functions. On the other hand, the upper computer uses VB to program and it uses a component named MScomm to communicate with the lower MCU via wireless COM. The double relays’ controlling motor is this paper’s innovation point.

Open Robot Control Platform Based on LSOA

2013 ◽  
Vol 341-342 ◽  
pp. 719-726 ◽  
Author(s):  
Feng Tang ◽  
Geng Sheng Rao ◽  
Qiang Chen ◽  
Ping Zhang
Keyword(s):  
Control System ◽  
Robot Control ◽  
System Development ◽  
Control Mode ◽  
Service Oriented Architectures ◽  
Runtime Reconfiguration ◽  
Service Oriented ◽  
Configuration System ◽  
Development Approach ◽  
Robot Control System

Aims to address the restrictions imposed by tranditional robot Control system development approach such as close structure, function immobility, lack of reconfiguration at run time, hard to guarantee. a lightweight service-oriented architectures (LSOA) for robot control system is proposed. The main features of this architecture include central control mode, message-based interaction and configuration system based on embedded database. This architecture provides good supports for runtime reconfiguration, and allows integrating different components with the aid of a configuration system. The experiment indicates that the LSOA approach can improve the flexibility, reconfiguration and agility of the system.

Sign in / Sign up

Export Citation Format

Share Document