Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers
المؤلفون المشاركون
Hu, Fei
Anderson, Monica
Dawson, Shameka
McKenzie, Andrew
المصدر
العدد
المجلد 2011، العدد 2011 (31 ديسمبر/كانون الأول 2011)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2011-12-29
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
Implementing a robot controller that can effectively manage limited resources in a deterministic, real-time manner is challenging.
Behavior-based architectures that decompose autonomy into levels of intelligence are popular due to their robustness but do not provide real-time features that enforce timing constraints or support determinism.
We propose an architecture and approach for using the real-time features of the Real-Time Specification for Java (RTSJ) in a behavior-based mobile robot controller to show that timing constraints affect performance.
This is accomplished by extending a real-time aware architecture that explicitly enumerates timing requirements for each behavior.
It is not enough to reduce latency.
The usefulness of this approach is demonstrated via an implementation on Solaris 10 and the Sun Java Real-Time System (Java RTS).
Experimental results are obtained using a K-team Koala robot performing path following with four composite behaviors.
Experiments were conducted using several task period sets in three cases: real-time threads with the real-time garbage collector, real-time threads with the non- real-time garbage collector, and non-real-time threads with the non-real-time garbage collector.
Results show that even if latency and determinism are improved, the timing of each individual behavior significantly affects task performance.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
McKenzie, Andrew& Dawson, Shameka& Hu, Fei& Anderson, Monica. 2011. Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers. Journal of Robotics،Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-478650
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
McKenzie, Andrew…[et al.]. Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers. Journal of Robotics No. 2011 (2011), pp.1-11.
https://search.emarefa.net/detail/BIM-478650
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
McKenzie, Andrew& Dawson, Shameka& Hu, Fei& Anderson, Monica. Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-478650
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-478650
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر