A modular real-time fieldbus architecture for mobile robotic platforms

Simple item page
dc.citation.epage927en_US
dc.citation.issueNumber3en_US
dc.citation.spage917en_US
dc.citation.volumeNumber60en_US
dc.contributor.authorSaranlı U.en_US
dc.contributor.authorAvcı, A.en_US
dc.contributor.authorÖztürk, M. C.en_US
dc.date.accessioned2015-07-28T11:59:48Z
dc.date.available2015-07-28T11:59:48Z
dc.date.issued2011-03en_US
dc.departmentDepartment of Computer Engineeringen_US
dc.description.abstractThe design and construction of complex and reconfigurable embedded systems such as small autonomous mobile robots is a challenging task that involves the selection, interfacing, and programming of a large number of sensors and actuators. Facilitating this tedious process requires modularity and extensibility both in hardware and software components. In this paper, we introduce the universal robot bus (URB), a real-time fieldbus architecture that facilitates rapid integration of heterogeneous sensor and actuator nodes to a central processing unit (CPU) while providing a software abstraction that eliminates complications arising from the lack of hardware homogeneity. Motivated by our primary application area of mobile robotics, URB is designed to be very lightweight and efficient, with real-time support for Recommended Standard (RS) 232 or universal serial bus connections to a central computer and inter-integrated circuit (I(2)C), controller area network, or RS485 bus connections to embedded nodes. It supports automatic synchronization of data acquisition across multiple nodes, provides high data bandwidth at low deterministic latencies, and includes flexible libraries for modular software development both for local nodes and the CPU. This paper describes the design of the URB architecture, provides a careful experimental characterization of its performance, and demonstrates its utility in the context of its deployment in a legged robot platform.en_US
dc.identifier.doi10.1109/TIM.2010.2078351en_US
dc.identifier.eissn1557-9662
dc.identifier.issn0018-9456
dc.identifier.urihttp://hdl.handle.net/11693/12034
dc.language.isoEnglishen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/TIM.2010.2078351en_US
dc.source.titleIEEE Transactions on Instrumentation and Measurementen_US
dc.subjectDistributed controlen_US
dc.subjectEmbedded systemsen_US
dc.subjectFieldbusen_US
dc.subjectMobile robotsen_US
dc.subjectReal-time data acquisitionen_US
dc.subjectInstrumentation architectureen_US
dc.subjectUniversal robot bus (URB)en_US
dc.titleA modular real-time fieldbus architecture for mobile robotic platformsen_US
dc.typeArticleen_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
10.1109-TIM.2010.2078351.pdf
Size:
1.09 MB
Format:
Adobe Portable Document Format
Download
Collections
Department of Computer Engineering