Difference between revisions of "Talk:Low-cost Robotics"

From AIRWiki
Jump to: navigation, search
(Notes)
(Proposal)
Line 45: Line 45:
 
* CAN+Ethernet+ZigBee
 
* CAN+Ethernet+ZigBee
 
* LCM for marshaling and communication (publish/subscribe)
 
* LCM for marshaling and communication (publish/subscribe)
- Some system to pass messages to local processes
+
- Some system to pass messages to local processes <br />
- Some kind of distributed clock on LCM
+
- Some kind of distributed clock on LCM <br />
 
* Minimalist VM for scripting purposes
 
* Minimalist VM for scripting purposes

Revision as of 15:57, 24 August 2010

Goals

  • September 2010

Written state-of-the art in the area, including a reasoned and commented collection of relevant sites

  • September 2010

Selection of an appropriate tool to support plug-and-play interaction among HW/SW modules, on widely used standards (e.g., CAN bus). A candidate is CAN Festival. Test of the tool on ST-based boards (and Microchip as well)


Notes

Communication Middleware

  • Requirements

- Low hardware requirements to run on 8-bit microcontrollers
- Some way to sync all processes (distributed clock)
- Lowest possible latency for real time control
- Possibility to run on different hardware links (low cost as CAN, high bandwidth as Ethernet, wireless like Zigbee)

  • Candidates (hardware link)

- CAN
- Ethernet
- 802.15.4 - >Zigbee

  • Candidates (communication protocol)

- CANopen - TTP/A - UDP - (Ethercat)

  • Candidates (communication framework)

- http://www.canfestiva.org -

  • Candidates (middleware)


  • Candidates (distributed objects)

- http://arco.esi.uclm.es/en/node/18

Proposal

  • CAN+Ethernet+ZigBee
  • LCM for marshaling and communication (publish/subscribe)

- Some system to pass messages to local processes
- Some kind of distributed clock on LCM

  • Minimalist VM for scripting purposes