대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

CAN내장 휴머노이드 로봇에 대한 진보된 우선순위 적용

An Improved Priority Application for Humanoid Robot in the Controller Area Network(CAN)

  • 발행 : 2004.10.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. Unfortunately, CAN, in its current form, is not able to either share out the system bandwidth among the different devices fairly or to grant an upper bound on the transmission times experienced by the nodes connected to the communication medium as it happens, for instance, in the token-based networks. In this paper. we present the message scheduling for CAN, based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. Besides introducing the new algorism, this paper also presents some performance figures obtained using a specially developed software simulator, while the behavior of the new algorism is compared with the traditional CAN systems, in order to see how effective they are.

키워드

참고문헌

  1. Miwa, H., Itoh, K., Ito, D., Takanobu, H., Takanishi, A., 'Introduction of the need model for humanoid robots to generate active behavior,' Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, Volume: 2, Pages: 1400-1406 Vol. 2, 27-31 Oct. 2003
  2. K. Hirai, 'The Honda Humanoid Robot: Development and Future Perspective,' Industrial Robot: An International Journal, Vol. 26, No.4, 1999, pp. 260-266 https://doi.org/10.1108/01439919910277431
  3. Y. Sakagami and R. Watanabe, 'The intelligent ASIMO: System overview and integration,' in Proceedings of the IEEE Intl. Confer-ence, 2002 Intelligent Robots and Systems https://doi.org/10.1109/IRDS.2002.1041641
  4. Khawar M. Zuberi, 'Design and Implementation of Efficient Message Scheduling for Controller Area Network,' IEEE TRANSACTIONS ON COMPUTERS, Vol. 49, No.2, FEBRUARY 2000 https://doi.org/10.1109/12.833115
  5. Tindell, K., Burns, A., 'Guaranteed Message Latencies for Distributed Safety Critical Hard Real-Time Networks,' YCS 229, Dept. Computer Science, Univ. of York(l994)
  6. M.A. Livani, J. Kaiser, W.J. Jia: 'Scheduling Hard and Soft Real-Time Communication in the Controller Area Network (CAN),' 23rd IFAC/IFIP Workshop on Real Time Programming, Shantou, China, June 1998
  7. Miwa, H., Itoh, K., Ito, D., Takanobu, H., Takanishi, A., 'Introduction of the need model for humanoid robots to generate active behavior,' Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, Volume: 2, Pages: 1400-1406 Vol. 2, 27-31 Oct. 2003
  8. K. Tindell, A. Burns, and a Wellings, 'Calculating Controller Area Network(CAN) Message Response Times,' IFAC workshop on Distributed Computer Control Systems(DCCS), Toledo, Spain, September, 1994
  9. Ben Kao, Hector Garcia-Molina, 'Deadline Assignment in a Distributed Soft Real-Time System,' IEEE Transactions on Parallel and Distributed Systems, Vol. 8, No. 12, December 1997 https://doi.org/10.1109/71.640019
  10. Khawar M. Zuberi, Kang G. Shin, 'Scheduling Messages on Controller Area Network for Real-Time CIM Applications,' IEEE Transactions on Robots and Automation, Vol. 13, No.2, April 1997 https://doi.org/10.1109/70.563654
  11. Di Natale, M., 'Scheduling the CAN bus with earliest deadline techniques,' Real-Time Systems Symposium, 2000. Proceedings. The 21st IEEE, Pages:259-268, 27-30 Nov. 2000 https://doi.org/10.1109/REAL.2000.896015
  12. BOSCH 'CAN Specification version 2.0,' Page:42-44, Sep, 1991
  13. D, Kelton, R. Sadowski & D. Sadowki 'Simulation with Arena, 2/e,' ISBN 0-07-239270-3, McGraw-Hill