Distributed Embedded Control Architecture of a Leader-Follower Mobile Robot Formation

2015 ◽  
Vol 779 ◽  
pp. 201-204
Author(s):  
Ran Li ◽  
Yun Hua Li
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Distributed Control ◽  
Electronic System ◽  
Control Architecture ◽  
Distributed Control System ◽  
Embedded Control ◽  
Data Bus ◽  
Robot Cooperation

Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

Development of a Smart Actuator for Turbine Engine Applications

1998 ◽  
Author(s):  
William Lorenz
Keyword(s):  
Control System ◽  
Distributed Control ◽  
Credit Card ◽  
High Reliability ◽  
Minimum Size ◽  
Distributed Control System ◽  
Turbine Engine ◽  
Term Operation ◽  
Data Bus ◽  
Smart Actuator

The application of distributed control systems to turbine engine controls offers the potential for major reductions in development time and costs for the engine control and the engine. Once the data bus and power bus are standardized for elements of a distributed control system, the industry will have a group of sensors, actuators, and controllers that could be interchangeable between applications. Software and hardware will still require modification to fit the specific application, however, great strides will have been made toward a “plug and play” capability between sensors, actuators, and controllers all tied together on the same data bus. The main controller in a distributed control system, except for software, would be interchangeable from engine to engine. This paper describes the design and development of the electronics for a smart actuator and discusses the design considerations which were used to guide the requirements. Requirements unique to turbine engine applications include temperature environments to 30° C, a severe vibration environment, minimum size and weight, and very high reliability. The electronics developed for the smart actuator were packaged on credit card sized printed wiring board modules. Two of these modules were packaged in a housing approximately 23×3.4×1.1 inches. The electronics operate from 28 volt DC power and communicate with the rest of the control system via the MEL-STD-1553B data bus. Although a hydraulic actuator was chosen as the demonstration vehicle, the electronic module is adaptable to any servo application and can be expanded to read any of the common engine sensors and operate solenoids. The chosen actuator was intended as a development tool to expose the design problems of distributed systems. Therefore, this first demonstration unit was designed using electronic components rated for 125° C operation. AlliedSignal is currently a member of a consortium of companies under DARPA sponsorship developing a family of SOI (silicon-on-insulator) integrated circuits rated for 200° C operation. Our current 125° C design is compatible with the new devices being developed. A 200° C unit is planned for 1998. Further improvements in the metalization used in the SOI devices will allow reliable long term operation to about 300° C. Devices for this higher temperature range are expected to be available in 1999.

Synthesis of distributed control system for a group of mobile robots

2017 ◽  
Vol 12 (2) ◽  
pp. 199-205
Author(s):  
B.S. Yudintcev ◽  
A.Y. Alekseev
Keyword(s):  
Information Processing ◽  
Control System ◽  
Mobile Robots ◽  
Wireless Network ◽  
Distributed Control ◽  
Distributed Control System ◽  
Information Flows

The technique of synthesis of specialized architecture of the control system, taking into account the peculiarities of the organization of the team of robots, the specifics of information flows and hardware is considered. To implement the proposed architecture contains three levels, and supports cloud-based and multithreaded technology of information processing, focuses on modern types of controllers and processors. The technology of forming an intranet in a team of robots based on a ”domain“ wireless network created using Wi-Fi Protocol and software of its own development.

scholarly journals Implementing distributed control system for intelligent mobile robot

2004 ◽  
Vol 8 (2) ◽  
pp. 159-162 ◽  
Author(s):  
Andrey Loukianov ◽  
Masanori Sugisaka ◽  
Hidenori Kimura ◽  
Msanori Sugisaka ◽  
H. Kimura
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Distributed Control ◽  
Distributed Control System

Distributed Flight Control and Propulsion Control Implementation Issues and Lessons Learned

1999 ◽  
Vol 121 (1) ◽  
pp. 96-101 ◽  
Author(s):  
W. R. Schley
Keyword(s):  
Control System ◽  
Distributed Control ◽  
Flight Control ◽  
Lessons Learned ◽  
Distributed Control System ◽  
Propulsion Control ◽  
Data Bus ◽  
Control System Architecture ◽  
Typical Design ◽  
Control Implementation

This paper addresses the motivations for using a distributed control system architecture, technical challenges, typical functions which are off-loaded to remote terminals, sensor/effector interface issues, data bus selection, technology insertion issues, lessons learned, and objectives for future distributed control implementations. Typical design requirements, constraints, environmental conditions, and operational challenges will be described. Examples of various distributed control system implementations will be discussed, including both propulsion control and flight control examples.

Development of a Distributed Control System for Mobile Robots using CAN

2004 ◽  
Vol 2004.5 (0) ◽  
pp. 321-322
Author(s):  
Mitsuo HASHIBA ◽  
Yohsuke NAKANISHI ◽  
Hiroyuki TAKAHASHI ◽  
Shinichi SUZUKI ◽  
Shinichi NAGAO
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Distributed Control ◽  
Distributed Control System

scholarly journals Development of a Design Methodology for Cloud Distributed Control Systems of Mobile Robots

2021 ◽  
Vol 11 (1) ◽  
pp. 1
Author(s):  
Semyon Sechenev ◽  
Igor Ryadchikov ◽  
Alexander Gusev ◽  
Abas Lampezhev ◽  
Evgeny Nikulchev
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Control Systems ◽  
Distributed Control ◽  
Design Methodology ◽  
Development Stage ◽  
Systems Development ◽  
Walking Robots ◽  
Distributed Control System ◽  
Distributed Control Systems

This article addresses the problem of cloud distributed control systems development for mobile robots. The authors emphasize the lack of a design methodology to guide the process of the development in accordance with specific technical and economic requirements for the robot. On the analysis of various robots architectures, the set of the nine most significant parameters are identified to direct the development stage by stage. Based on those parameters, the design methodology is proposed to build a scalable three-level cloud distributed control system for a robot. The application of the methodology is demonstrated on the example of AnyWalker open source robotics platform. The developed methodology is also applied to two other walking robots illustrated in the article.

1P1-C27 Architecture of Distributed Control System with CAN for Mobile Robots

2006 ◽  
Vol 2006 (0) ◽  
pp. _1P1-C27_1-_1P1-C27_2
Author(s):  
Shingo ISOBE ◽  
Tadayuki YAMAMOTO ◽  
Koichiro HAYASHI ◽  
Hiroki MURAKAMI ◽  
Makoto MIZUKAWA
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Distributed Control ◽  
Distributed Control System
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