Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP)

Takuma Shirai; Kohei Osawa; Hiroyuki Chishiro; Nobuyuki Yamasaki; Masayuki Inaba

doi:10.1109/CPSNA.2016.12

Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP)

Takuma Shirai, Kohei Osawa, Hiroyuki Chishiro, Nobuyuki Yamasaki, Masayuki Inaba

Department of Information and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

The robotics field provides with many typical applications of Cyber-Physical Systems (CPS). Robots are expected to be deployed in a wide variety of applications including life supporting work or disaster response and therefore they need to follow strict safety and dependability constraints. In order to create robots with high utility, safety and dependability, research has focused both on creating mechanically safe systems and safe control laws. Throughout the present work, we use the embedded real-time processor D-RMTP as a motor controller to attain high responsiveness on a high power robot. D-RMTP has a hardware mechanism to support hard real-time processing, which enables lower-jitter and lower-overhead processing compared with conventional software based real-time execution (Real-Time Task). Responsive Task, a real-time execution mechanism based on D-RMTP, has also been proposed in recent works. In this paper, we have evaluated the effects of the low-jitter and low-overhead performance of Responsive Task on a distributed robot control system. The result of the experiment showed that Responsive Task resulted in improving the control cycle speed and the responsiveness of the controller.

Original language	English
Title of host publication	Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	19-24
Number of pages	6
ISBN (Electronic)	9781509044030
DOIs	https://doi.org/10.1109/CPSNA.2016.12
Publication status	Published - 2016 Dec 22
Event	4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 - Nagoya, Japan Duration: 2016 Oct 6 → 2016 Oct 7

Other

Other	4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016
Country	Japan
City	Nagoya
Period	16/10/6 → 16/10/7

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Keywords

distributed control system
real-time
robotics

ASJC Scopus subject areas

Computer Science Applications
Computer Networks and Communications
Hardware and Architecture
Artificial Intelligence
Computer Vision and Pattern Recognition

Cite this

Shirai, T., Osawa, K., Chishiro, H., Yamasaki, N., & Inaba, M. (2016). Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). In Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016 (pp. 19-24). [7796576] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CPSNA.2016.12

Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). / Shirai, Takuma; Osawa, Kohei; Chishiro, Hiroyuki; Yamasaki, Nobuyuki; Inaba, Masayuki.

Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 19-24 7796576.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shirai, T, Osawa, K, Chishiro, H, Yamasaki, N & Inaba, M 2016, Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). in Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016., 7796576, Institute of Electrical and Electronics Engineers Inc., pp. 19-24, 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016, Nagoya, Japan, 16/10/6. https://doi.org/10.1109/CPSNA.2016.12

Shirai T, Osawa K, Chishiro H, Yamasaki N, Inaba M. Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). In Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 19-24. 7796576 https://doi.org/10.1109/CPSNA.2016.12

Shirai, Takuma ; Osawa, Kohei ; Chishiro, Hiroyuki ; Yamasaki, Nobuyuki ; Inaba, Masayuki. / Design and implementation of a high power robot distributed control system on dependable responsive multithreaded processor (D-RMTP). Proceedings - 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 19-24

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Access to Document

10.1109/CPSNA.2016.12