NDLI: Nonstop update of running robot controllers

Content Provider	IEEE Xplore Digital Library
Author	Horiuchi, E.
Copyright Year	2004
Description	Author affiliation: Intelligent Syst. Inst., AIST, Ibaraki, Japan (Horiuchi, E.)
Abstract	This paper presents a controller design on a RTOS platform to update running controller programs repetitively with small time loss. Field applications are the target of our study. The proposed online update method uses thread swapping in order to replace binary code without any customized operating systems or languages. We introduce a novel layered design based on update frequency for controller modules to manage the dependency among them. We present implementation expertise in update timing for performance improvement and show that a system of subsumption architecture is convertible to online updateable one. The overhead time of the method was measured by using a mobile manipulator and the results show that update can be completed within one servo cycle time.
Starting Page	3662
Ending Page	3667
File Size	423855
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389984
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Yarn Control systems Mobile robots Legged locomotion Communication system control Intelligent systems Intelligent robots Binary codes Frequency
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Safety issues in nonstop update of running programs for mobile robots

A hybrid approach to intelligent autonomous mobile robots

Distributed intelligent control structure for multi-legged walking robots

Control architectures for autonomous mobile robots

Evolutionary neural controllers for mobile robot colonies

Blending multi-behaviors of intelligent reactive navigation for legged walking robot in unstructured environment

Proprioceptive control of a hybrid legged-wheeled robot

Design and control of a modular actuator driven humanoid robot

Human centered robotics in intelligent space

Nonstop update of running robot controllers

Similar Documents

Safety issues in nonstop update of running programs for mobile robots

A hybrid approach to intelligent autonomous mobile robots

Distributed intelligent control structure for multi-legged walking robots

Control architectures for autonomous mobile robots

Evolutionary neural controllers for mobile robot colonies

Blending multi-behaviors of intelligent reactive navigation for legged walking robot in unstructured environment

Proprioceptive control of a hybrid legged-wheeled robot

Design and control of a modular actuator driven humanoid robot

Human centered robotics in intelligent space

Nonstop update of running robot controllers