Paper Info
Title
An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK)
Abstract
In this paper, a real-time control network based on Ethernet and FireWire is presented, where Ethernet provides a convenient, cross-platform interface between a central control PC and a FireWire subnetwork that contains multiple distributed nodes (I/O boards). Real-time performance is achieved because this architecture limits the number of Ethernet transactions on the host PC, benefits from the availability of real-time Ethernet drivers, and uses the broadcast and peer-to-peer capabilities of FireWire to efficiently transfer data among the distributed nodes. This approach and resulting benefits are comparable to EtherCAT, but preserves existing investments in FireWire-based controllers and relies only on conventional, vendor-neutral network hardware and protocols. The system performance is demonstrated on the da Vinci Research Kit (dVRK), which consists of 8 FireWire nodes that control 2 Master Tool Manipulators (MTMs) and 2 Patient Side Manipulators (PSMs), for a total of 28 axes. This approach is generally applicable to interface existing FireWire-based systems to new control PCs via Ethernet or to serve as an open-source alternative to EtherCAT for new designs.
Year
DOI
Venue
2015
10.1109/ETFA.2015.7301489
Emerging Technologies and Factory Automation
Field
DocType
ISSN
Ethernet flow control,Carrier Ethernet,Real-time Control System,Networking hardware,EtherCAT,Field-programmable gate array,Real-time computing,Ethernet,Engineering,Host controller interface,Operating system,Embedded system
Conference
1946-0740
Citations 
PageRank 
References 
0
0.34
3
Authors
3
Name
Order
Citations
PageRank
Qian Long15710.30
Zihan Chen251.55
Peter Kazanzides358496.63