Robotics Research Technical Report: Overview of the Ganglia Communication Architecture (Classic Reprint) - Softcover
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Excerpt from Robotics Research Technical Report: Overview of the Ganglia Communication Architecture
Robot control systems typically consist of cooperating micro-computers. Frequently the processors use shared memory on a common bus for communication. This is particularly true when the processors must cooperate in executing low level tasks, such as, servo loops. This architecture has great appeal: construction of the controller is easy, using off-the-shelf busses and boards; the system can be quite modular and expandable for the same reason; shared memory is conceptually simple and flexible for the programmer; and shared memory is a reliable and fast communication medium. Problems arise as robot systems get more complex. There are mechanical and electrical limits to the expansion of shared memory systems which put rather small bounds on the number of boards that can be in a system. Centralized processing in a single box requires extensive cabling to the various sensors and actuators. This is often awkward, constraining the placement of a robot and the inhibiting expansion. Complex sensors, now in development, such as tactile sensing arrays compound the problem because of the multitude of connections required. An approach to the problem of cabling between sensors, actuators and processors is to put the processors near to the devices. This, though, poses a communication problem between the various processors, among the processors controlling the devices and between these processors and higher-level control processors. Ganglia is a robot controller architecture and communication protocol meant to address these issues. Distributing a robot controller within the robot presents many problems, for instance, those related to weight, size, packaging, power-distribution, and software tools. The current research on ganglia is focused on the communications problems and only lightly touches on these further topics.
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Excerpt from Robotics Research Technical Report: Overview of the Ganglia Communication Architecture
The purpose Of ganglia is to support robot control programs. This section presents briefly the important characteristics Of robot control programs. For a more detailed survey Of Operating systems for robot controllers and control program characteristics see Operating Systems for Robot Control [clar88].
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Robotics Research Technical Report (Classic Reprint)
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Paperback. Condition: New. Print on Demand. This book delves into GANGLIA, a revolutionary communication architecture designed to enhance the capabilities of distributed robot control systems. It presents a comprehensive examination of GANGLIA's design, protocols, and implementation, providing a thorough understanding of its operation and benefits. The author, an expert in robotics, meticulously outlines the real-time communication constraints and challenges faced by robot control systems, establishing the context for GANGLIA's development. The book explores the taxonomy of messages employed in robot control, categorizing them based on their regularity and relation to the system's state. The discussion progresses to the intricate details of GANGLIA's network architecture, examining its physical and data link layers and the design of its node architecture. The communication memory management unit (CMMU) is deconstructed, shedding light on its pivotal role in maintaining the global memory and facilitating access to the network. The book's insights culminate in an exploration of the access control mechanisms implemented in GANGLIA. It elucidates the concepts of servo cycles and threads, highlighting how they orchestrate message transmission and ensure efficient communication. The text delves into the handling of exceptions, emphasizing the importance of prioritizing and resolving unscheduled events effectively. This book is an indispensable resource for researchers, engineers, and practitioners in the field of robotics, providing a deep understanding of the design principles and implementation techniques of GANGLIA. Its comprehensive analysis offers valuable insights into the challenges and solutions of real-time communication in distributed robot control systems, making it a foundational reference for advancing the field. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book. print-on-demand item. Seller Inventory # 9781330642603_0
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Robotics Research Technical Report Overview of the Ganglia Communication Architecture Classic Reprint
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