Real-time performance of hybrid mobile robot control utilizing USB protocol
PBN-AR
Instytucja
Wydział Elektrotechniki, Automatyki, Informatyki i Inżynierii Biomedycznej (Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie)
Informacje podstawowe
Główny język publikacji
EN
Czasopismo
International Journal of Advanced Robotic Systems
ISSN
1729-8806
EISSN
Wydawca
I-TECH EDUCATION AND PUBLISHING
DOI
URL
Rok publikacji
2015
Numer zeszytu
Strony od-do
1--12
Numer tomu
12
Link do pełnego tekstu
Identyfikator DOI
Liczba arkuszy
0.85
Autorzy
(liczba autorów: 1)
Słowa kluczowe
EN
robot
real time
embedded control system
USB protocol
hybrid controller
Streszczenia
Język
EN
Treść
This article discusses the problem of usability of the USB 2.0 protocol in the area of real-time control of a mobile robot. Optimization methods of data transfer handling were proposed. The impact of the optimization results on the entire system's performance was examined in practice. As a test-bed, a hybrid system composed of two devices communicating by direct USB connection was implemented. The first of the mentioned devices was a 32-bit SoC micro-system serving as a direct control unit, and the second one was an off-the-shelf PDA providing supervisory control and logging. Due to this design, the system meets regimes of the real-time constraints and maintains continuity of a data stream at a large bandwidth. The real-time performances of subsystems and the entire system were experimentally examined depending on various operating conditions. Thanks to the performed experiments, the dependency of real-time limits on operational parameters has been determined.
Cechy publikacji
original article
peer-reviewed
Inne
System-identifier
idp:088161
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