Design and Implementation of the Robotic Platform

The diversity of robotic research areas along with the complex requirements of hardware and software for robotic systems have always presented a challenge for system developers. Many past robot control platforms were complex, expensive, and not very user friendly. Even though several of the previous platforms were designed to provide an open architecture system, very few of the previous platforms have been reused. To address previous disadvantages, this paper describes the design and implementation of the Robotic Platform, an object-oriented development platform for robotic applications. The Robotic Platform includes hardware interfacing, servo control, trajectory generation, 3D simulation, a graphical user interface, and a math library. As opposed to distributed solutions, the Robotic Platform implements all these components in a homogenous architecture that utilizes a single hardware platform (a standard PC), a single programming language (C++), and a single operating system (the QNX Real-Time Platform) while guaranteeing deterministic real-time performance. This design leads to an open architecture that is less complex, easier to use, and easier to extend. Particularly, the area of multiple cooperating robots benefits from this kind of architecture, since the Robotic Platform achieves a high integration of its components and provides a simple and flexible means of communication. The architecture of the Robotic Platform builds on the following state-of-the-art technologies and general purpose components to further increase simplicity and reliability: (i) PC technology, (ii) the QNX Real-Time Platform, (iii) the Open Inventor library, (iv) object-oriented design, and (v) the QMotor control environment.     

Watch out, Tiger Woods![golf playing robot]

This article describes the development of an autonomous robotic system for playing mini-golf. The system was designed and built to serve as a demonstration of robotic application for engineering students. The system was built using a Yasakawa robot fitted with two arms. The software was developed to control the machine using the C++ language. Standard C++ libraries were used in addition to communication libraries provided by the Yasakawa Corporation. The current configuration works with Microsoft Windows NT and an Ethernet environment. This article describes the hardware and software design aspects of this machine.     

准实时测控系统异步编程模型分析

通过编程模型特征的分析,介绍某型测控软件的应用场合、功能需求等,并对其内部机制进行了详细分析,讨论了处理复杂的多路并发I/O问题的软件结构设计和实现。结果表明,异步编程模型很好地满足了系统硬件备份冗余需求,同时兼顾系统并发运行的工作量、优先级和效率。     

R2P: An open source hardware and software modular approach to robot prototyping

Rapid prototyping is a key aspect for the development of innovative robotic applications. A modular, platform-based, approach is the way to obtain this result. Modular approaches are common for software development, but hardware is still crafted often re-inventing solutions every time. As a consequence, the resources that should be invested in the development of a new robot get often drained by the implementation of a physical, working prototype to test the application idea. To overcome this problem, we propose R2P (Rapid Robot Prototyping), a framework to implement real-time, high-quality architectures for robotic systems with off-the-shelf basic modules (e.g., sensors, actuators, and controllers), integrating hardware and software, which can be assembled in a plug-and-play way. R2P provides hardware modules, a protocol for real-time communication, a middleware to connect components as well as tools to support the development of software on the modules. R2P aims at dramatically reduce time and efforts required to build a prototype robot, making it possible to focus the resources on the development of new robotic applications instead of struggling on their implementation. This enables also people with experience in a specific application domain, but with little technical background, to actively participate in the development of new robotic applications. R2P is open-source both in its software and hardware to promote its diffusion among the robotics community and novel business models that will substantially reduce the costs to design a new robotic product.     

A new paradigm for open robotics research and education with the C++ OOML

For many years robotics has been benefited from the open source community. Software community projects like Player, Stage, Gazebo, ROS, or OpenCV are present in most robotic applications. In recent years this trend has also been initiated among electronic and mechanical developments (open hardware). The Arduino development platform is a good example of a successful hardware project with a great community of developers and users around it. The apparition of personal 3D printers is bringing the open source philosophy to the fabrication of physical things as well. This new technology is in need of new designing tools to take advantage of it. In this paper we are presenting the C++ Object Oriented Mechanics Library (OOML), a tool to design mechanical components, taking into account the needs and requirements of these emerging technologies. These designs can be easily shared, reused, and modified. The OOML brings together the advantages of (1) modelling things through code, (2) the object oriented programming paradigm, and (3) the power of C++. In the OOML, mechanical parts are described as geometrical combinations of basic primitives. Once a part is defined, fabrication files can be generated in order to print, or mechanize it. Models could also be used for simulation, visualization, structural analysis, etc.     

Automated Software Engineering Through Structured Data Management

The Software Engineering Facility (SEF) is a system for software engineering which is specifically designed to support the development of well-engineered software. However, it is not an operating system. Unlike operating systems such as OS/370, EXEC 8, and others, the SEF is not meant to support the execution of applications programs, just as the ordinary operating systems are not intended to specifically support the development of well-engineered applications programs. The SEF, in fact, will run under and use the facilities of such operating systems. It, then, is easily transferable and can be used with vaxious hardware/operating system configurations where it will provide a host-independent software development system. In such a role it will provide to the software developer standard facilities across a variety of host systems.     

Programming the 68000 in high-level language for VME

Many choices of VME hardware module now exist but software still continues to be the major cost in systems development. As development teams face more complex projects, productivity can be improved by four approaches: the use of standard system architecture, the use of software building blocks, the use of better tools and an increase in the level of software engineering management. Some characteristics of realtime systems programming are presented. Next an overview of the VMEbus is given. Then a target operating environment for 68000-based applications in PASCAL is described. The software components are called pSOS, pHILE and pROP. These provide the realtime executive or kernel, file management system and runtime support for PASCAL respectively. Languages other than PASCAL can be used with pSOS and pHILE, but a preference is expressed for PASCAL over the language C.     

Artificial intelligence and robotic assembly

Traditionally, most industrial robots are programmed by teaching. The emergence of robot-level programming languages has improved the programmer's ability to describe and modify the robot moves. However, commercially available robot-level programming languages still fall short of the robot user's need to program complex tasks, and consequently, are not widely used in industry. There is an increasing need for integrating sensors feedback into the robot system to provide better perception and for improving the capacity of the robot to reason and make decisions intelligently in real time.The role of artificial intelligence in programming and controlling robots is discussed. Available robot programming systems including robot-level, object-level, and task-level languages are reviewed. The importance of developing intelligent robots in broadening the scope of flexible automation and opening the door to new robotic applications in space, under water and in harsh environments is outlined. The current development and implementation of programming and control systems for intelligent robots, at McMaster University, are explained. A number of research issues are discussed such as (1) automatic task planning, (2) knowledge representation and use, (3) world modeling, (4) reasoning in automatic assembly planning, and (5) vision monitoring of actions. Examples of geometric, functional, and handling reasoning, as they apply to assembly, are provided. The systems described in this paper are being implemented in the center for flexible manufacturing research and development. Several pieces of hardware are used, including a six-axis articulated robot, a grey-level vision system with a multi-camera, Micro VAX II, and a variety of graphics monitors. The languages available for software development include Common LISP, C, OPS5, VAL II, PASCAL, and FORTRAN 77. The domain of application is currently focused on mechanical assembly.     

基于LabVIEW的通用且可定制的数据采集处理软件设计

数据采集系统可将外界模拟信号转换成数字信号并输入计算机,随后在计算机上进行后续数字信号处理[1]。在实际应用中,待采集的模拟信号一般来自各类物理场传感器,针对不同的应用场景、不同的传感器、不同的项目需求,一般需要定制化开发数据采集系统。得益于NI(National Instruments,美国国家仪器)公司开发的通用化硬件采集设备,用户在数据采集项目开发时只需着重考虑软件部分的设计工作,本文提出一种基于LabVIEW编程语言的通用且可定制的数据采集处理软件设计方法,即考虑可用于多个数据采集项目的通用性,又满足不同项目的定制化需求,注重软件复用性,提高项目开发效率。     

Parallel software development in the DISC programming environment

This paper describes the architecture of DISC, a system for parallel software development. The system is designed for programming computer systems having several autonomous units, not memory-sharing, and linked by means of a communication network.

The system consists of three parts. The concurrent programming language DISC (DIStributed C), which is an extension of the C language based on the concurrent mechanisms envisaged by the CSP computational model. The programming environment, designed to promote software engineering techniques in the development of distributed-programs. The language run-time support, which provides for the distributed execution of programs.     

A visual representation of cellular automata-like systems

Cellular automata (CA) models and corresponding algorithms have a rich theoretical basis, and have also been used in a great variety of applications. A number of programming languages and systems have been developed to support the implementation of the CA models. However, these languages focus on computational and performance issues, and do not pay enough attention to programming productivity, usability, understandability, and other aspects of software engineering.In this paper, we describe a new special-purpose programming language developed for visual specification, presentation, and explanation of CA systems within a visual programming environment, as well as, for programming them. This language is based on using visual patterns, colors, and animation for representing the CA system structures and operations on these structures, and for performing editing and composing manipulations with corresponding software components. Examples of the CA algorithm representations and some details of the environment implementation are presented.     

A Microprocessor Laboratory for a University Environment

A microprocessor-based laboratory facility is being developed as part of the computer science program in the Department of Electrical Engineering and Computer Science of the University of Connecticut. This laboratory is structured to support graduate research in which the microprocessor will play a role, provide a means for introducing microprocessor-based material into the undergraduate computer science and electrical engineering curriculums, and be a medium whereby the untrained computer user who wishes to utilize a microcomputer may do so in a convenient manner. The laboratory is centered on a dual PDP-11 minicomputer system which provides a high level of software and hardware support to the microprocessor activity. This permits software development to take place in a comfortable, real-time environment on a machine suited to such a task plus providing hardware support not inherent in the microcomputer itself. Since a broad spectrum of people will use this facility, the involvement with the microprocessors and related devices must cover a broad spectrum of activities. This will range from new, designs starting at the device level to applications which simply integrate complex off-the-shelf hardware and software functions. To support this the laboratory provides a means to reliably breadboard a prototype of a new microcomputer system or subsystem. This would be done by an individual who is conversant with the intimate details of a given microprocessor device line and is knowledgeable in both hardware and software aspects of digital systems.     

VisualC＋＋在《微机原理与接口》课程中的应用

利用工程应用实践,对《微机原理与接口》课程进行改革。使用流行的VisualC＋＋编程工具编写及制作USB接口系统,并将其扩展成图像采集系统。通过对一个完整的计算机软件与硬件系统的设计制作,使学生掌握实际开发能力,实现与日后工作的无缝连接。     

Introduction to the special issue on Advances in intelligent nonlinear control for robotic systems

In the last two decades, robotic systems have achieved wide applications in every aspect of human society, including industrial manufacturing, automotive production, medical devices, and social lives. With the     

Human-centred design methods: Developing scenarios for robot assisted play informed by user panels and field trials

This article describes the user-centred development of play scenarios for robot assisted play, as part of the multidisciplinary IROMEC¹ project that develops a novel robotic toy for children with special needs. The project investigates how robotic toys can become social mediators, encouraging children with special needs to discover a range of play styles, from solitary to collaborative play (with peers, carers/teachers, parents, etc.). This article explains the developmental process of constructing relevant play scenarios for children with different special needs. Results are presented from consultation with panel of experts (therapists, teachers, parents) who advised on the play needs for the various target user groups and who helped investigate how robotic toys could be used as a play tool to assist in the children’s development. Examples from experimental investigations are provided which have informed the development of scenarios throughout the design process. We conclude by pointing out the potential benefit of this work to a variety of research projects and applications involving human–robot interactions.     

HERO型移动机器人控制器的研制和开发

本文介绍了以高档PC、PLC和无线通信作为控制器核心的HERO型移动机器人控制器的 研究开发技术．给出了移动机器人控制器硬件系统结构和控制器软件体系结构,分析介绍了 控制软件系统中的各功能模块的作用与特点,着重介绍了软件中采用的关键技术．已投入使 用的机器人的良好性能证明了其控制器技术方案的合理性．     

ARC: a metacomputing environment for clusters augmented with reconfigurable hardware

The addition of reconfigurable hardware (FPGAs) to the nodes of Beowulf-style clusters has the potential to accelerate a variety of parallel applications through a combination of parallel programming and reconfigurable computing techniques. However, making efficient use of the computational resources available places a significant burden on the application developer due to the lack of support for reconfigurable computing and task heterogeneity in standard message-passing libraries. This paper describes Accessible Reconfigurable Computing (ARC), a metacomputing environment designed to address these issues. The architecture, implementation, and operation of the system are described in detail.     

关于从C语言方向对计算机软件工程的思考和分析

C语言是计算机的一种通用性程序设计语言,它拥有着汇编语言和高级语言的双重优点,它的应用范围相当广泛,既能编写操作系统软件,又能开发各个领域的应用软件,对于计算机软件工程的发展有着至关重要的作用。熟练掌握和灵活利用C语言编程是解决实际问题的关键。