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Implementation of Distributed Production System for Heterogeneous Multiprocessor Robotic Systems

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Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6472))

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Abstract

We have developed an RTDPS (Robotic Technology Distributed Production System) for use as a framework for realizing optimized performance of an integrated robot. The RTDPS is a set of software built on OpenRTM-aist (an implementation of OMG RT-middleware specification), which consists of a script compiler, node components, and deployment utility. By distributing the application logics among the processing elements, the RTDPS can prevent the centralized control of integrated systems, which causes system bottlenecks. By performing experiments involving two typical applications, we show that the network traffic can be reduced by 73% while balancing the processing load among the processing elements.

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Author information

Authors and Affiliations

  1. National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki, Japan

    Yosuke Matsusaka & Isao Hara

Authors
  1. Yosuke Matsusaka
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  2. Isao Hara
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Editor information

Editors and Affiliations

  1. AIST Tsukuba Central 2, RT-Synthesis R.G., ISRI, AIST, 305-8568, Tsukuba, Ibaraki, Japan

    Noriaki Ando

  2. Intelligent Systems Division, National Institute of Standards and Technology, 100 Bureau Drive, M/S 8230, 20899-8230, Gaithersburg, MD, USA

    Stephen Balakirsky

  3. Department of Computer Science, Technical University Darmstadt, Hochschulstr. 10, 64289, Darmstadt, Germany

    Thomas Hemker  & Oskar von Stryk  & 

  4. Department of Management and Engineering (DTG), University of Padua, Stradella San Nicola, 3, 36100, Vicenza, Italy

    Monica Reggiani

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© 2010 Springer-Verlag Berlin Heidelberg

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Matsusaka, Y., Hara, I. (2010). Implementation of Distributed Production System for Heterogeneous Multiprocessor Robotic Systems. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_27

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  • DOI: https://doi.org/10.1007/978-3-642-17319-6_27

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17318-9

  • Online ISBN: 978-3-642-17319-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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