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RISS 인기검색어
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- 저자 : Alfons Crespo (검색결과 2 건)
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Real-time Embedded Architecture for improving Pervasive Robot Services
Carlos Dominguez,Houcine Hassan,Alfons Crespo 보안공학연구지원센터 2008 International Journal of Software Engineering and Vol.2 No.1
The integration of embedded real-time control systems with the physical world via sensors and actuators (pervasive computing systems) is creating a nascent infrastructure for a technical, economic and social revolution. Service robots have to execute tasks that have different criticality, flexible timing constraints and variable execution time, because they perform their activities in dynamic and unpredictable environments, they share resources and have to cooperate to fulfill the objectives. The environmental conditions have influence in the variability of the system load. For instance, the computational requirements of recognition tasks are variable and dependent on the number of objects perceived in scenes. To tackle the computational variability of pervasive robots a real-time architecture is proposed in this paper.
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Flexible Real-time Embedded Architecture for Advanced Service Robots
David Ramada,Carlos Dominguez,Houcine Hassan,Alfons Crespo 보안공학연구지원센터 2008 International Journal of Smart Home Vol.2 No.4
In most advanced real-time control applications such as service robots, the tasks have different criticality, flexible timing constraints and variable execution time. For instance, autonomous service robots perform their activities in dynamic environments, share resources and have to cooperate to fulfill their objectives. These changing environmental conditions produce a variability of the system load. Firstly, the computational requirements of recognition tasks are variable and dependent on the number of objects perceived in scenes. Secondly, the application processes are executed at different frequencies with varying periods and deadlines that are dependent on robot speeds. To tackle these aspects a flexible real-time architecture is implemented in rt-linux in this paper. Moreover, the architecture permits to extract the slack time, enabled in the system due to load variability, and to invest it in improving the communication performances of the robots. Experimental evaluations of the architecture have been carried out with real autonomous robots.
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