A tool for the specification and the implementation of operating modules in a distributed robot architecture

Engineering Information Abstracts (Part I) Title: GenoM: A TOOL FOR THE SPECIFICATION AND THE IMPLEMENTATION OF OPERATING MODULES IN A DISTRIBUTED ROBOT ARCHITECTURE Author(s): Fleury, Sara; Herrb, Matthieu; Chatila, Raja Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 2 Žof 3. Sep 7-11 1998 v 2 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 842-848 CODEN: 85RBAH Publication Year: 1997 Abstract: This paper presents a general methodology for the specification and the integration of functional modules in a distributed reactive robot architecture. The approach is based on a hybrid architecture basically composed of two levels: a lower distributed functional level controlled by a centralized decisional level. Thanks to this methodology, synchronous or asynchronous operating capabilities Žservo-control, data processing, event monitoring. can be easily added to the functional level. They are encapsulated into modules, built according a generic model, that are seen by the decisional level as homogeneous, programmable, reactive and robust communicant services. Each module is simply described with a specific language and is automatically produced by a generator of modules ŽGenoM. according to the generic model. GenoM also produces an interactive test program and interface libraries to control the module and to read the resulting data, which allow to directly integrate the module into the architecture. In English ŽAuthor abstract . 12 Refs. EI Order Number: 98034130849 Keywords: Modular robots; Computer architecture; Interfaces Žcomputer.; Distributed computer systems Title: FUNCTIONALLY DISTRIBUTED RESPONSIVE MICRO CONTROLLER FOR DISTRIBUTED REAL-TIME PROCESSING Author(s): Yamasaki, Nobuyuki; Matsui, Toshihiro Source: Proceedings of the 1997 IEEErRSJ International Conference on Intelligent Robot and Systems. Part 2 Žof 3. Sep 7-11 1998 v 2 Grenoble, Fr. Sponsored by: IEEE Piscataway NJ USA. p 793-798 CODEN: 85RBAH Publication Year: 1997 Abstract: In this paper, we propose a functionally distributed responsive Žreactive in real-time. micro controller for distributed real-time processing, which can control personal robots, home automation, office automation, etc. A responsive controller is composed of a mother module and an IrO card customizable for its specific application. A common mother module is composed of a processor, a memory system, an IrO card bus interface for its daughter card, and high speed real-time links called responsive links. In order to realize hard real-time communication needed for robot control, sensing, etc., a responsive link consists of a pair of full-duplex data lines and two-way event lines. Many kinds of systems can be flexibly composed by connecting any number of the responsive controllers using the responsive links. In English ŽAuthor abstract . 6 Refs. EI Order Number: 98034130842 Keywords: Robotics; Parallel processing systems; Real time systems; Interfaces Žcomputer.; Control systems

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Title: NETWORKED INSTRUCTIONAL INSTRUMENTATION FACILITY Author(s): Werges, Stephan C.; Naylor, David L. Source: Proceedings of the 1997 ASEE Annual Conference Jun 15-18 1997 Milwaukee, WI, USA. ASEE Washington DC USA. 7p ISSN: 0190-1052 CODEN: ACOPDW Publication Year: 1997 Source: Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 1 Žof 3. Jul 7-11 1997 v 1 Guimaraes, Portugal. Sponsored by: IEEE Piscataway NJ USA. p PS5 CODEN: 85PTAR Publication Year: 1997 Abstract: The Networked Instructional Instrumentation Facility ŽNIIF. is a prototype system which allows multiuser access to a library of sophisticated test equipment for measurements on a library of devices in real time through the World Wide Web. An object-oriented clientrserver architecture and a Measurement Applications Programming Interface is developed to meet the special design requirements of NIIF such as: efficient scheduling and queuing of measurement jobs, security precautions to prevent malicious use of the facility, making the NIIF tolerant and robust, and designing an intuitive and easy to use client user interface. In English EI Order Number: 98034101019 Keywords: Computer aided instruction; Engineering education; Wide area networks; Real time systems; Security of data; Fault tolerant computer systems; Object oriented programming; User interfaces; Computer architecture

Title: DESIGN OF HUMAN-CENTERED SYSTEMS: A TECHNOLOGICAL BRIDGE TO THE 21ST CENTURY Author(s): de Figueiredo, Rui J.P. Abstract: One of the important challenges posed by the recent emerging computer and information technologies is the development of a generic and yet precise approach to the design of human-centered systems ŽHCSs., where, by a HCS, we mean a human-machine system in which the human and the machine are integrated as a single entity in performing a human-oriented function. HCSs can play a major role in applications pertaining to science, technology and the arts. This lecture will present an overview of some of the concepts underlying HCSs focusing on illustrations based on human-centered machine vision. In English ŽAuthor abstract . EI Order Number: 98034101712 Keywords: Man machine systems; Human computer interaction; User interfaces; Information technology; Computer vision

Title: FRAMEWORK FOR DYNAMIC MAN-MACHINE INTERACTION IMPLEMENTED ON AN AUTONOMOUS MOBILE ROBOT Author(s): Bergener, Thomas; Dahm, Percy Source: Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 1 Žof 3. Jul 7-11 1997 v 1 Guimaraes, Portugal. Sponsored by: IEEE Piscataway NJ USA. p SS42-SS47 CODEN: 85PTAR