An Experimental Framework for Multi-Agents Using RTOS Based Robotic Controllers

Abstract:

Thist paper presents a framework for distributed application development containing autonomous manipulator robots, multi-agents based software and real time operating systems. The framework is structured on layers; this approach dissociates hardware from local control loops and high level global control strategy. In our implemented version, the working framework contains an original combinations of two robotic arms, MQX controllers using RTOS and a multi-agent JADE based platform running on PC. This structuring gives to the developer the ability to focus on specific individual modules development which then are integrated in a comprising system. The proposed modular distributed architecture favors reusing, fast refactoring and maintenance of the distributed system. The paper describes the overall structure of the framework, but also the features and functionality of its components. It also highlights the advantages of distributed control based on multi-agents and the flexibility of MQX RTOS controllers running robotic tasks. The interactions between software, controllers and mechanical systems in the time domain are also evaluated. Finally, the implemented strategies will be evaluated in order to be applied for the industrial field.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 259-266
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.259
• Online since: June 2014
• Authors: Cristian Spirleanu, Luige Vladareanu*, Eugen Diaconescu
• Keywords: Distributed Architecture, Multiagent Control System, Robotic Operating System, Robotic Platform

References

[1] E. Diaconescu, C. Spirleanu, Communication solution for industrial control applications with multi-agents using OPC servers, in International Conference on Applied and Theoretical Electricity, (2012).

DOI: 10.1109/icate.2012.6403431

[2] C. Spirleanu, E. Diaconescu, Distributed control system for robotic cells and intelligent building automation using agents, in 15th, WSEAS International Conference on Systems pp.376-380, (2011).

[3] Modbus IDA, Modbus application protocol specification v1. 1b, December 28, 2006, on modbus. org.

[4] L. Vladareanu, I. Ion, E. Diaconescu, G. Tont, L.M. Velea, D. Mitroi, The Hybrid Position and Force Control of Robots with Compliance Function, in Proceedings of the 10th WSEAS International Conference on Mathematical and Computational Methods in Science and Engineering, pg. 384-389, (2008).

[5] S.C. Lauzon, J.K. Mills, and B. Benhabib, An Implementation Methodology for the Supervisory Control of Flexible Manufacturing Workcells, in Journal of Manufacturing Systems Vol. 16/No. 2, (1997).

DOI: 10.1016/s0278-6125(97)85673-7

[6] M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, R. W. Eric Berger, ROS: an open-source Robot Operating System, in Open-Source Software workshop of (ICRA), (2009).

[7] CPUstick. Cpustick and stickos - Embedded systems made easy, on cpustick. com.

[8] F. Bullo, J. Cortes, S. Martınez, Distributed Control of Robotic Networks, in Applied Mathematics Series, Princeton University Press, (2009).

[9] Freescale Semiconductor Data Sheet, MCF52259 ColdFire Integrated Microcontroller Reference Manual, in document number MCF52259RM Rev. 4 3/(2011).

[10] Freescale Semiconductor Data Sheet, MMA8451Q 3-Axis, 14-bit/8-bit Digital Accelerometer, in document number MMA8451Q Rev. 7. 1, 05/(2012).

[11] Freescale Semiconductor Data Sheet, Tower System mechatronics board and robot, (2012).

[12] 4D Systems Data Sheet, Serial JPG Camera Module μCAM, 09/(2012).

[13] T. Reichenbach, Z. Kovacic, Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors, in Cutting Edge Robotics, 05/(2005).

DOI: 10.5772/4676

[14] M. Dawande, H.N. Geismar, S.P. Sethi and C. Sriskandarajah, Sequencing and scheduling in robotic cells: recent developments, in Journal of Scheduling 8, pg. 387–426, 2005. Springer (2005).

DOI: 10.1007/s10951-005-2861-9

[15] K. Johns and T. Taylor, Professional Microsoft Robotics Developer Studio, inWrox Press, (2008).

[16] S. Morgan, Programming Microsoft Robotics Studio, Microsoft Press, Redmond, (2008).

[17] Venator, E. Hardware and Software Architecture of ABBY: An Industrial Mobile Manipulator, 9th IEEE International Conference on Automation Science and Engineering, August, (2013).

DOI: 10.1109/coase.2013.6653969

[18] Phillips Mike, Victor Hwang, Sachin Chitta, Maxim Likhachev, Learning to Plan for Constrained Manipulation from Demonstrations, Robotics Science and Systems (RSS) Conference Proceedings (2013).

DOI: 10.15607/rss.2013.ix.047

[19] Rusu, Radu Bogdan., Meeussen, Wim., Chitta, Sachin., and Beetz, Michael, Laser-based Perception for Door and Handle Identification, International Conference on Advanced Robotics (ICAR), 06/2009, Munich, Germany, (2009).

[20] Ayssam Elkady and Tarek Sobh, RoboticsMiddleware: A Comprehensive Literature Survey and Attribute-Based Bibliography, in Journal of Robotics, article ID 959013, (2012).

[21] C. Schlegel, T. Hassler, A. Lotz, and A. Steck, Robotic software systems: from code-driven to model-driven designs, in Proceedings of the International Conference on Advanced Robotics (ICAR '09), p.1–8, Germany, 06/(2009).

DOI: 10.5772/25896

[22] F. Bellifemine, G. Caire, D. Greenwood, Developing multi-agent system with JADE, J. Wiley, (2007).

DOI: 10.1002/9780470058411

[23] A. Mori, F. Naya, N. Osato, T. Kawaoka, Multiagent-based distributed manipulator control, Proceedings of the IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp.289-296, (1996).

DOI: 10.1109/mfi.1996.572190

[24] Kejun Ning, Research on embedded MAS based manipulator control, The Industrial Robot: An International Journal, 33/2 pp.97-105, 2006, ISSN 0143-991X, DOI 10. 1108/ 01439910610651392.

DOI: 10.1108/01439910610651392

[25] Kejun Ning, Ruqing Yang, MAS based embedded control system design method and a robot development paradigm, Mechatronics 16, pp.309-321, 2006, Elsevier.

DOI: 10.1016/j.mechatronics.2006.01.007

[26] Freescale Semiconductor, MQX Real-Time Operating System, User's Guide, Doc. Nr. MQXUG, Rev. 3, 04/(2011).