D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
The actions, chosen from the list of the symbolic planner, are executed by the execution module. This is
realised as a BDI (Believe-Desire-Intention)-theoretic agent architecture. The agent is able to determine
intentions dynamically at runtime, based on known facts, current goals and available plans. Here both topdown
goal-based reasoning and bottom-up data-driven reasoning are possible.
Sensing and perception
Considering the environment perception, sensory data is gathered continuously. This data is further processed
and interpreted in order to acquire information about the environment. The results are then given to the
system and possibly displayed to the user through the man-machine-interface.
13.3 CORBYS enabling potential and constraints (current gaps/shortcomings)
The following aspects of cognitive robot controlled systems have been identified as points of interest where
the CORBYS project will contribute to research and development of cognitive controlled robotic systems:
a) Cognitive control adaptation
b) take-over/hand-over of goal-setting initiative between robot and external agent
Cognitive control adaptation
In reviewed cognitive architectures, the control of actuators is carried out by general control techniques that
are usually used in robotics (position servo controllers and different form of force controllers) where setpoints
for real-time (RT) controllers are provided by cognitive modules which initiate action of RT
controllers. However, one important missing aspect is adaptation of real-time controllers by cognitive
modules. This will be highly influenced by time latency of cognitive loops and communication paths between
RT controllers and cognitive modules. In CORBYS both long term and short term adaptation of RT
controllers will be investigated.
14 State­of­the­Art in Smart integrated actuators (SCHUNK)
14.1 Introduction to Smart Integrated Actuators
Smart Actuators are considered to be highly integrated mechatronical units incorporating a motor and the
complete motion control electronics in one single unit. For reasons of minimised interfacing a smart actuator
provides a bus communication interface and runs all necessary motion control tasks internally.
Smart actuators were introduced at the beginning 1990s as microcontrollers reached the necessary computing
performance for motor control. The progressing microcontroller technology integrating a microprocessor,
capture compare and timer units enabling PWM control as well as analogue, digital and communication ports
has started the ongoing process of miniaturisation of sensors and motor control electronics. At the same time
power electronics developed rapidly by increasing drain current capacity in field effect transistors (especially
the MOSFET technology) at lower internal resistance as well as by introducing new semiconductor
technologies like IGBT (insulated gate bipolar transistor).
Depending on the application and component sizing a smart actuator can also incorporate a speed reducing
gear head thus enabling the device to provide higher torque output.
Smart actuators can be distinguished by these criteria: motor technique and control system.
14.2 Basic Actuator Technologies
State-of-the-art smart actuators have been presented with fluidic drives as well as with electromagnetic
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