CFP last date
20 August 2024
Call for Paper
September Edition
IJCA solicits high quality original research papers for the upcoming September edition of the journal. The last date of research paper submission is 20 August 2024

Submit your paper
Know more
Reseach Article

Software and Hardware Architecture for Autonomous Robots using Distributed Embedded system

by P. Niranjan, R. Ramani, S. Selvaraju, S. Valarmathy
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 55 - Number 11
Year of Publication: 2012
Authors: P. Niranjan, R. Ramani, S. Selvaraju, S. Valarmathy
10.5120/8802-3027

P. Niranjan, R. Ramani, S. Selvaraju, S. Valarmathy . Software and Hardware Architecture for Autonomous Robots using Distributed Embedded system. International Journal of Computer Applications. 55, 11 ( October 2012), 31-39. DOI=10.5120/8802-3027

@article{ 10.5120/8802-3027,
author = { P. Niranjan, R. Ramani, S. Selvaraju, S. Valarmathy },
title = { Software and Hardware Architecture for Autonomous Robots using Distributed Embedded system },
journal = { International Journal of Computer Applications },
issue_date = { October 2012 },
volume = { 55 },
number = { 11 },
month = { October },
year = { 2012 },
issn = { 0975-8887 },
pages = { 31-39 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume55/number11/8802-3027/ },
doi = { 10.5120/8802-3027 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:57:00.886274+05:30
%A P. Niranjan
%A R. Ramani
%A S. Selvaraju
%A S. Valarmathy
%T Software and Hardware Architecture for Autonomous Robots using Distributed Embedded system
%J International Journal of Computer Applications
%@ 0975-8887
%V 55
%N 11
%P 31-39
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In this paper, we propose the software and hardware architecture for specifically Autonomous Robots using distributed embedded system. These concepts have implemented in developing a prototype robot. An autonomous robot has minimum three components a. sensor b. controller c. actuators. A distributed embedded system is most enabling technology in developing an autonomous robot, since it contains many computing nodes. Distributed systems are set of sub system, which are independent embedded system but works as a single system for a single goal. Software architecture plays a vital role for the control system of hardware. It uses interdependent layered architecture for the control structure of the robot. The software layers are built on top of "physical layer", which consists of actual sensors and robots. On top of physical layer is the "logical layer" which provides access to the actual physical layers. The other layers are "module substratum", "central controller", "planner", "cognitive layer" and finally the "interpreter". The proposed model aims in reducing the complexity of hardware, interdependent software architecture and a level of autonomy.

References
  1. "Hardware and Software Architecture for Execution Control of an Autonomous Mobile Robot" - Rogkrio F. Camago*, Raja Chatila and RachidAlami
  2. "A Biologically Inspired Architecture for an Autonomous and Social Robot" - MaríaMalfaz, Álvaro Castro-González, Ramón Barber, and Miguel A. Salichs
  3. "A Distributed Architecture for Autonomous Robots" -Maurizio Piaggio, Antonio Sgorbissa and Renato Zaccaria
  4. W. Maier and E. Steinbach, "A probabilistic appearance representationand its application to surprise detection in cognitive robots," IEEETrans. Autonom. Mental Develop. , vol. 2, no. 4, pp. 267–281, Dec. 2010.
  5. Y. Zhang and J. Weng, "Spatio-temporal multimodal developmentallearning," IEEE Trans. Autonom. Mental Develop. , vol. 2, no. 3, pp. 149–166, Sep. 2010.
  6. R. M. Shiffrin, "Attention," in Stevens Handbook of Experimental sychology,2nd ed. New York: Wiley, 1988, vol. 2.
  7. R. M. Shiffrin and W. Schneider, "Controlled and automatic human information processing: In perceptual learning, automatic attending and a general theory," Psicolog. Rev. , pp. 127–190, 1997.
  8. S. Gadanho, "Reinforcement Learning in Autonomous Robots: An Empirical Investigation of the Role of Emotions," Ph. D. dissertation, Univ. of Edinburgh, Edinburgh, U. K. , 1999.
  9. K. L. Bellman, "Emotions: Meaningful mappings between the individual and its world," in Emotions in Humans and Artefacts. Cambridge, A: MIT Press, 2003.
  10. L. Cañamero, "Designing emotions for activity selection in autonomous agents," in Emotions in Humans and Artifacts. Cambridge, A: MIT Press, 2003.
  11. R. C. Arkin, "Homeostatic control for a mobile robot: Dynamic replanning in hazardous environments," in Proc. SPIE Conf. Mobile Robot. , Cambridge, MA, 1988.
  12. C. J. Watkins, "Models of Delayed Reinforcement Learning," Ph. D. dissertation, Cambridge Univ. , Cambridge, U. K. , 1989.
  13. C. L. Hull, Principles of Behavior. New York: Appleton CenturyCrofts, 1943.
  14. N. Kubota, Y. Nojima, N. Baba, F. Kojima, and T. Fukuda, "Evolvingpet robot with emotional model," in Proc. 2000 Congress Evolut. Comput. , 2000.
  15. Lora G. Weiss "Autonomous Robots in the fog of war" IEEE spectrum august 2011 issue.
  16. By Jie Liu and Edward A. Lee "Timed multitasking for real time embedded software" February 2003, IEEE control system magazine
Index Terms

Computer Science
Information Sciences

Keywords

Software Hardware architecture Cognitive layer Autonomous robots.