Vol.6, Special Issue, 2007 pp. 9-24
UDC 007.52+004.8(045)=111
THE INTERRUPT OF MASCOT ROBOT SYSTEM EMBEDDED
IN RT MIDDLEWARE BASED ON FUZZY LOGIC
Hai An Vu1, Yoichi Yamazaki1,
Kazuya Fukuda1, Yui Matsuura1,
Phuc Quang Le1, Hitoho Oikawa1,
Kazuhiro Ohnishi1, Yasufumi Takama2,
Fangyan Dong1, Kaoru Hirota1
1Tokyo Institute of Technology, Yokohama,
Japan
2Tokyo Metropolitan University, Tokyo,
Japan
e-mail: Hirota@hrt.dis.titech.ac.jp;
tou@hrt.dis.titech.ac.jp
Abstract. A control method based on fuzzy priority measure and fuzzy
selection criterion is proposed in order to solve the interrupt problem
in Mascot Robot System. The fuzzy priority measure defines the priorities
of interrupted instructions in order to optimize responsiveness of the
system. The fuzzy selection criterion based on the fuzzy priority measure
is used to determine the appropriate interrupted instruction for the next
processing. This method is embedded in Robot Technology Middleware which
is used to construct the communication environment among robots in Mascot
Robot System. Five kinds of Eyeball robot’s emotions, different in execution
time, are used in the experiments on the real system. The fuzzy interrupt
processing method improves the responsiveness of the system by more than
18.5% with an acceptable delay time of less than 0.32 seconds. Simulation
experiments are carefully analyzed to classify systems and find out relationship
between the two proposed fuzzy quantities and types of systems; this relationship
is the key in optimizing different types of systems.
Key words: interrupt, robotics, fuzzy logic, middleware
PREKID MASKOT ROBOTNIH SISTEMA UGRADJENIH
U RT-MIDDLEWARE ZASNOVAN NA FAZI LOGICI
Metod upravljanja zasnovan na merama fazi prioriteta i kriterijumima fazi
odabira predlažu se u radu da bi se rešio problem prekida Maskot Robotnih
Sistema. Mere fazi prioriteta odredjuju prioritete prekinutih uputstava
da bi se optimalizovale reakcije sistema. Kriterijum fazi odabira zasnovan
na meri fazi prioriteta se koristi da se odredi odgovarajući prekid uputstava
za sledeće procesiranje. Ovaj metod se koristi u Robot Tehnologiji Middleware
koja se koristi da bi se uspostavila atmosfera komunikacije medju robotima
u Maskot Robot Sistemu. Pet vrsta Očnih robotskih emocija, različiti
po vremenu izvršenja, korišćeni su u eksperimentima na realnim sistemima.
Metod procesiranja fazi prekida poboljšava reakciju sistema za više od
18.5% sa prihvatljivim odstupanjem u vremenu sa manje od 0.32 sekundi.
Eksperimenti simulacije su pažljivo analizirani da bi se klasifikovali
sistemi i da bi se pronašao odnos izmedju predloženih fazi kvantiteta
i tipova sistema; ovaj odnos je ključ za optimalizaciju različitih tipova
sistema.
Ključne reči: Procesiranje prekida, prekid, fazi logika, middleware,
robotika
