Talk:Low-cost Robotics - Revision history

AndreaBonarini: /* Scenarios */

2010-08-25T16:04:45Z

‎Scenarios

AndreaBonarini: /* Scenarios */

2010-08-25T16:01:09Z

‎Scenarios

AndreaBonarini: /* Scenarios */

2010-08-25T15:29:58Z

‎Scenarios

AndreaBonarini: /* Scenarios */

2010-08-25T15:29:09Z

‎Scenarios

AndreaBonarini at 15:28, 25 August 2010

2010-08-25T15:28:32Z

AndreaBonarini: /* Scenarios */

2010-08-25T15:23:09Z

‎Scenarios

AndreaBonarini at 15:22, 25 August 2010

2010-08-25T15:22:31Z

AndreaBonarini at 15:19, 25 August 2010

2010-08-25T15:19:00Z

AndreaBonarini at 15:18, 25 August 2010

2010-08-25T15:18:16Z

MartinoMigliavacca: /* Proposal */

2010-08-24T15:07:33Z

‎Proposal

@@ Line 58: / Line 58: @@
   * soft real time and time syncrhronization among the same modules
   * hard real time, time synchronization and >500Kbytes/sec for ARM, mainly due to force feedback (manage separately?)
 ===== Requirements =====

@@ Line 42: / Line 42: @@
   * Time sync among modules
   * Soft real-time
 ===== Requirements =====

@@ Line 38: / Line 38: @@
 The camera might detect up to 8 different objects of up to 8 categories each, and provide their position and dimensions of the envelope rectangle in the image coordinates: this means 8*(3*(2*((2*8)+(2*8)))bits or 192 bytes. If this is made available on request, a time stamp (2 bytes) is needed. Requests can come every Tc sec.
-SUMMARY of 1
+ SUMMARY of 1 - ROBOGAME
   * Band less than 300 bytes/sec
   * Time sync among modules

@@ Line 39: / Line 39: @@
 SUMMARY of 1
-** Band less than 300 bytes/sec
+ * Band less than 300 bytes/sec
-** Time sync among modules
+ * Time sync among modules
-** Soft real-time
+ * Soft real-time
 ===== Requirements =====

@@ Line 24: / Line 24: @@
 ====== Scenarios ======
-*1 - Robogame - A small, 3-wheeled robot plays a dynamic game with a human player.
+*1 - ROBOGAME - A small, 3-wheeled robot plays a dynamic game with a human player.
 The robot bears 3 mice for odometry, a range sensor belt (8 sonars), a camera, a speed controller for the three motors, a higher level controller (MIND) to manage the game interaction (including LEDs, speech, movement).
@@ Line 37: / Line 37: @@
 The camera might detect up to 8 different objects of up to 8 categories each, and provide their position and dimensions of the envelope rectangle in the image coordinates: this means 8*(3*(2*((2*8)+(2*8)))bits or 192 bytes. If this is made available on request, a time stamp (2 bytes) is needed. Requests can come every Tc sec.
 ===== Requirements =====

@@ Line 12: / Line 12: @@
 === Notes ===
-===== Communication Middleware =====
+==== Communication Middleware ====
 ===== Notes on communication needs among modules in a robotics architecture =====
@@ Line 23: / Line 23: @@
 The speed at which these data should be exchanged depends on the production/consumptions of data, so on the elaboration at both sides of the communication channel. Extreme values might be 1 KHz for a control with force feedback, rising to a banwidth of few kilobytes/sec
-===== Scenarios =====
+====== Scenarios ======
 *1 - Robogame - A small, 3-wheeled robot plays a dynamic game with a human player.
@@ Line 41: / Line 41: @@
-* Requirements
+===== Requirements =====
 - Low hardware requirements to run on 8-bit microcontrollers<br />
 - Some way to sync all processes (distributed clock)<br />
@@ Line 47: / Line 47: @@
 - Possibility to run on different hardware links (low cost as CAN, high bandwidth as Ethernet, wireless like Zigbee)<br />
-*Candidates (hardware link)
+===== Candidates=====
 - CAN<br />
 - Ethernet<br />
 - 802.15.4 - >Zigbee<br />
-* Candidates (communication protocol)
+* Communication protocol
 - CANopen
 - TTP/A
@@ Line 58: / Line 60: @@
 - (Ethercat)
-* Candidates (communication framework)
+* Communication framework
 - http://www.canfestiva.org
+-
-* Candidates (middleware)
+* Middleware
-* Candidates (distributed objects)
+* Distributed objects
 - http://arco.esi.uclm.es/en/node/18
-=== Proposal ===
+===== Proposal =====
 * CAN+Ethernet+ZigBee

@@ Line 47: / Line 47: @@
 - Some system to pass messages to local processes <br />
 - Some kind of distributed clock on LCM <br />
-* Minimalist VM for scripting purposes
+* (Minimalist VM for scripting purposes)