Difference between revisions of "Talk:Low-cost Robotics"
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- Some system to pass messages to local processes <br /> | - Some system to pass messages to local processes <br /> | ||
- Some kind of distributed clock on LCM <br /> | - Some kind of distributed clock on LCM <br /> | ||
| − | * Minimalist VM for scripting purposes | + | * (Minimalist VM for scripting purposes) |
Revision as of 16:07, 24 August 2010
Goals
- September 2010
Written state-of-the art in the area, including a reasoned and commented collection of relevant sites
- September 2010
Selection of an appropriate tool to support plug-and-play interaction among HW/SW modules, on widely used standards (e.g., CAN bus). A candidate is CAN Festival. Test of the tool on ST-based boards (and Microchip as well)
Notes
Communication Middleware
- Requirements
- Low hardware requirements to run on 8-bit microcontrollers
- Some way to sync all processes (distributed clock)
- Lowest possible latency for real time control
- Possibility to run on different hardware links (low cost as CAN, high bandwidth as Ethernet, wireless like Zigbee)
- Candidates (hardware link)
- CAN
- Ethernet
- 802.15.4 - >Zigbee
- Candidates (communication protocol)
- CANopen - TTP/A - UDP - (Ethercat)
- Candidates (communication framework)
- Candidates (middleware)
- Candidates (distributed objects)
- http://arco.esi.uclm.es/en/node/18
Proposal
- CAN+Ethernet+ZigBee
- LCM for marshaling and communication (publish/subscribe)
- Some system to pass messages to local processes
- Some kind of distributed clock on LCM
- (Minimalist VM for scripting purposes)
