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A Module-Based Generic Architecture For Mobile Robots |
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Imaging, Robotics, and Intelligent Systems Laboratory The University of Tennessee |
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| Motivation:
We wish that one day building a robot is as easy as building a computer nowadays. There are various hardware components like omni-directional legs, artistic brains and night vision eyes, and software components like system manger, hardware driver and 3D visualization viewer. To customize a personal robot is just to integrate the components that can endow our robot with the capabilities interested.
To build a module-based generic architecture for mobile robot systems. The architecture is decomposed into three physically and logically independent modules: sensing, mobility and computing, which is further decomposed into atomic module, each of which is analogized to a coherent function.
Robot system consists of basic bricks of three kinds: sensing, mobility and computing, and every brick is mainly composed by four modules: data acquisition, data processing, data transmission and power. These four modules can be further decomposed into atomic modules whose functionality and interface are well-defined.
Decomposed the architecture into atomic modules, and defined the functions and interface of the modules. Implemented a simple under-vehicle inspection system (SUVS ) for real-time surveillance that acquires, fuses and visualizes the data in parallel. Proposed a genetic model for module programming No publications currently available for this project. This research is being conducted at the IRIS Lab by Cheng Qian under the supervision of Dr. Mongi A. Abidi. |