Pleading for open modular architectures - Lirmm

More documents

Recommendations

Info

cluster of the perception part of the same level. This cluster is a ‘General Model’ of the robot and its environment and could be based on a data base (Figure 15). Level 5 Level 4 Level 3 Level 2 Level 1 Level 0 First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier Action Part Perception Part Mission Generator Path Planner Navigator Pilot Asservissements Servoings Sensors Capteurs A.M.S. ROBOT Figure 15 – The level 5 General Model Data Base Global Model Local Model Proximity Model Preestablished map This level is the higher control loop of the proposed architecture and does not have any entry, as it corresponds to the highest decisional autonomy level. According to the robot application, this level is based on modules related to artificial intelligence. Although it must project its missions on a very large temporal horizon, reaction time of this level is slow (this loop has multiple levels to cross). However, this level of autonomy corresponds to the “smart” or “clever” attitude of the robot. The remaining part of the robot autonomy is dispatched on the lower levels of the architecture: the projection of the motion according to the obstacles is in the navigator, the reflex action is in the pilot level, the servoings level ensures the accuracy of the gesture... The autonomous part of the architecture The whole architecture, made up of 2 parts divided into 5 levels, represents the autonomy of the robot. In fact, these autonomous parts of the architecture are embedded in the robot: the two parts – ‘Action’ and ‘Perception’ – and the Articulated Mechanical Structure (level 0) constitute the robot itself. The ‘Perception’ part corresponds to the upstream data flow from the AMS and the ‘Action’ part corresponds to the downstream data flow to the AMS. Connections on each level ensure the feedback loops of variable length allowing the control of the robot. This architecture makes it possible to model any autonomous robot whatever its application or its degree of autonomy. Its functioning is ensured by modules that are located in the different clusters. Depending on the applications, all modules are not required for all clusters and data flows may vary. Reversely, to produce a specific robot for a dedicated application, this architecture can be used in order to specify each module in each cluster, before carrying out the programming and the implementation. 110
The teleoperated part First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier This architecture makes it possible to model and control a robot which has various degrees of autonomy. But it does not make it possible to take into account the remote control of a robot. Indeed, the tele-operation is considered as antagonist to autonomy. A robotized system is regarded either as autonomous or as tele-operated. In the proposed architecture, we have leveled the autonomy of a robot in several degrees of autonomy. In a similar way, we propose to level the tele-operation of a robot. This leveled tele-operation complements the levels of autonomy of a robot, substituting itself to the missing degrees of autonomy. Hence, we define a third part, called ‘Tele-operation’, distant to the robot (Figure 16). In order to modulate the degree of the tele-operation, this part is also organised in levels similarly to the one defined for the ‘Action’ and ‘Perception’ parts. Each level of the ‘Tele-operation’ part receives data resulting from the corresponding levels of the ‘Perception’ part and can replace the corresponding level of the ‘Action’ part by generating in its place data necessary to the lower level of the ‘Action’ part. Figure 16 – The third ‘distant’ part: the tele-operation Thus, several possible levels of tele-operation can be identified: - The level 1 of tele-operation makes it possible for a human operator to actuate directly (in open loop mode) the Articulated Mechanical Structure. This level receives data from the level 1 of the ‘Perception’ part. This allows any operator to replace the autonomous loop of level 1. This is a remote control in open loop where the robot does not have any autonomy (Figure 17). Figure 17 – The tele-operation supplying the level 1 of the action part - The level 2 of the tele-operation uses information of the ‘Proximity Model’ to make it possible for a human operator to replace the level 2 of the ‘Action’ part, called the ‘Pilot’. It thus delivers setting points necessary to the level 1 to control the robot. This level of tele-operation is higher than previous, and can preserve the level 1 autonomous loop of the robot (Figure 18). Notice that there is no flow of 111
Page 4 and 5:
Organization This first national wo
Page 6 and 7:
Contents Organization…………
Page 8 and 9:
Program April 6, 2006 8:30-9:00 Rec
Page 10 and 11:
First National Workshop on Control
Page 12 and 13:
Page 14 and 15:
1 User requirements defined 2 Syste
Page 16 and 17:
Page 18 and 19:
Page 20 and 21:
Page 22 and 23:
Page 24 and 25:
Page 26 and 27:
Page 28 and 29:
Figure 6. Interface for local map (
Page 30 and 31:
Figure 8. Map and robot trajectory
Page 32 and 33:
Page 34 and 35:
Page 36 and 37:
Page 38 and 39:
Decision Planning Navigation Guidan
Page 40 and 41:
Page 42 and 43:
• Three Petri nets model level 3:
Page 44 and 45:
Page 46 and 47:
Page 48 and 49:
Abstract First National Workshop on
Page 50 and 51:
eginning of the next one. A guidanc
Page 52 and 53:
Figure 5 - Supervision interface Fi
Page 54 and 55:
On-going tests First National Works
Page 56 and 57:
Page 58 and 59:
Page 60 and 61: First National Workshop on Control
Page 76 and 77: DES (Data Exchange System), a publi
Page 94 and 95: Pilote Expérimenté:Télépilote F
Page 100 and 101: A multi-level architecture controll
Page 106 and 107: The autonomous parts Basic levels F
Page 118 and 119: An ultrasound probe of a sonographe
Page 120 and 121: Abstract First National Workshop on
Page 126 and 127: nombre de branches dans le parallé
Page 132 and 133: 2 The Orccad architecture 2.1 Basic
Page 140 and 141: 5.3 Real-time structures At compile
Page 142 and 143: From a software engineering perspec
Page 160 and 161:
Page 162 and 163:
Page 164 and 165:
Page 166 and 167:
Page 168 and 169:
Page 170 and 171:
Page 172 and 173:
Page 174 and 175:
Page 176 and 177:
Page 178 and 179:
Page 180 and 181:
Page 182 and 183:
Page 184 and 185:
Page 186 and 187:
Stopped destination reached destina
Page 188 and 189:
� ��
Page 190 and 191:
Page 192 and 193:
Abstract Horocol language and Hardw
Page 194 and 195:
Page 196 and 197:
• langage.xml which describe the
Page 198 and 199:
Coordination programming in Horocol
Page 200 and 201:
[F8] resume [F9] restart [F10] reev
Page 202 and 203:
References First National Workshop
Page 204 and 205:
Page 206 and 207:
TABLE I PROBABILITY VALUES FOR PERC
Page 208 and 209:
show all

Pleading for open modular architectures - Lirmm

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?