Paper Info
Title
A new distributed real-time control system for the JASON underwater robot
Abstract
The design, implementation, and deployment of a new computer system for closed loop control of the JASON underwater robot at full ocean depth is described. Sev- eral design principles for the rapid development of large scale robot control systems are articulated and illustrated with examples from the JASON system. (i) The use of subsystems with diering computer architectures per- mit eective matching of capability to function. (ii )A two-part system design partitions safety-critical from non safety-critical subsystems for cost-eective implementation and enhancement. (iii) A machine-independent message- passing communication protocol, JasonTalk, enables inte- gration of disparate computer architectures into a unied system. Results from a recent JASON deployment in the Pacic Ocean are discussed.
Year
DOI
Venue
1993
10.1109/IROS.1993.583124
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference
Keywords
Field
DocType
mobile robots,JASON underwater robot,JasonTalk,Pacific Ocean,closed loop control,computer architectures,control systems,design principles,distributed real-time control system,full ocean depth,machine-independent message-passing communication protocol,nonsafety-critical subsystems,safety critical systems
Remotely operated underwater vehicle,Robot control,Software deployment,Life-critical system,Computer science,Real-time Control System,Systems design,Control engineering,Real-time computing,Control system,Mobile robot
Conference
Volume
ISBN
Citations 
1
0-7803-0823-9
4
PageRank 
References 
Authors
1.13
2
2
Name
Order
Citations
PageRank
Whitcomb, L.L.125563.98
Dana R. Yoerger216839.57