Organização de uma rede machine to machine (M2M) para controle distribuído de um robô humanoide
Resumo
Um problema enfrentado no desenvolvimento de robôs móveis consiste na quantidade de sensores e atuadores que utilizam uma grande massa de condutores que pode ser reduzida através de redes de comunicação com ou sem fio. Assim, propõe-se a organização da estrutura de tópicos do protocolo de comunicação MQTT juntamente com o projeto de hardware e software para o controle da cinemática de um robô humanoide. Avaliou-se ainda os tempos de respostas do microcontrolador ESP8266 responsável pela implementação dos protocolos de rede em diferentes intervalos entre mensagens em um sistema operacional de tempo real (FreeRTOS).
Palavras-chave:
robô humanoide, redes para sistemas embarcadas, sistemas operacionais embarcados, Internet das Coisas
Referências
G. Sandini, G. Metta, and D. Vernon, The iCub Cognitive Humanoid Robot: An Open-System Research Platform for Enactive Cognition. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007, pp. 358–369. [Online]. Available: https://doi.org/10.1007/978-3-540-77296-5_32
G. Langevin. (2018, Jul.) InMoov Project Page. [Online]. Available: http://www.inmoov.fr/project/
X. Li, H. Cheng, G. Ji, and J. Chen, “Learning complex assembly skills from kinect based human robot interaction,” in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, dec 2017. [Online]. Available: https://doi.org/10.1109/robio.2017.8324818
M. Campos-Trinidad, J. A.-D. Carpio, E. Lopez-Zapata, and R. Salazar-Arevalo, “Optimal control of a robotic system and software development for speech-to-sign language transliterating applications,” in 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON). IEEE, aug 2017. [Online]. Available: https://doi.org/10.1109/intercon.2017.8079690
F. Acuna, M. Singana, F. Onate, V. Valdes, and M. Bustillos, “Humanoid interpreter for teaching basic sign language,” in 2016 IEEE International Conference on Automatica (ICA-ACCA). IEEE, oct 2016. [Online]. Available: https://doi.org/10.1109/ica-acca.2016.7778503
J. Lee, B. Bagheri, and H.-A. Kao, “A cyber-physical systems architecture for industry 4.0-based manufacturing systems,” Manufacturing Letters, vol. 3, pp. 18 – 23, 2015. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S221384631400025X
S. Li, L. D. Xu, and S. Zhao, “The internet of things: a survey,” Information Systems Frontiers, vol. 17, no. 2, pp. 243–259, Apr 2015. [Online]. Available: https://doi.org/10.1007/s10796-014-9492-7
J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, and K. Pister, “System architecture directions for networked sensors,” SIGOPS Oper. Syst. Rev., vol. 34, no. 5, pp. 93–104, Nov. 2000. [Online]. Available: http://doi.acm.org/10.1145/384264.379006
C. P. Team. (2018, Jul.) Contiki: The Open Source OS for the Internet of Things. [Online]. Available: http://www.contiki-os.org
F. P. team. (2018, Jul.) The FreeRTOS Kernel: Market Leading, Defacto Standard and Cross Platform RTOS kernel. [Online]. Available: http://www.freertos.org/
E. Systems. (2018, Jul.) ESP8266: Low-power, highly-integrated Wi-Fi solution. [Online]. Available: https://espressif.com/en/products/hardware/esp8266ex/overview
(2018, Jul.) MQTT Standard and Project Page. [Online]. Available: http//mqtt.org/
P. P. team. (2018, Jul.) Eclipse Paho: An open-source client implementations of MQTT. [Online]. Available: http://www.freertos.org/
S. Automation. (2018, Jul.) A community developed open source FreeRTOS-based framework for ESP8266. [Online]. Available: https://github.com/SuperHouse/esp-open-rtos
E. Corporation. (2018, Jul.) Espressif ESP8266 non OS SDK. [Online]. Available: https://github.com/esp8266/Arduino
G. Langevin. (2018, Jul.) InMoov Project Page. [Online]. Available: http://www.inmoov.fr/project/
X. Li, H. Cheng, G. Ji, and J. Chen, “Learning complex assembly skills from kinect based human robot interaction,” in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, dec 2017. [Online]. Available: https://doi.org/10.1109/robio.2017.8324818
M. Campos-Trinidad, J. A.-D. Carpio, E. Lopez-Zapata, and R. Salazar-Arevalo, “Optimal control of a robotic system and software development for speech-to-sign language transliterating applications,” in 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON). IEEE, aug 2017. [Online]. Available: https://doi.org/10.1109/intercon.2017.8079690
F. Acuna, M. Singana, F. Onate, V. Valdes, and M. Bustillos, “Humanoid interpreter for teaching basic sign language,” in 2016 IEEE International Conference on Automatica (ICA-ACCA). IEEE, oct 2016. [Online]. Available: https://doi.org/10.1109/ica-acca.2016.7778503
J. Lee, B. Bagheri, and H.-A. Kao, “A cyber-physical systems architecture for industry 4.0-based manufacturing systems,” Manufacturing Letters, vol. 3, pp. 18 – 23, 2015. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S221384631400025X
S. Li, L. D. Xu, and S. Zhao, “The internet of things: a survey,” Information Systems Frontiers, vol. 17, no. 2, pp. 243–259, Apr 2015. [Online]. Available: https://doi.org/10.1007/s10796-014-9492-7
J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, and K. Pister, “System architecture directions for networked sensors,” SIGOPS Oper. Syst. Rev., vol. 34, no. 5, pp. 93–104, Nov. 2000. [Online]. Available: http://doi.acm.org/10.1145/384264.379006
C. P. Team. (2018, Jul.) Contiki: The Open Source OS for the Internet of Things. [Online]. Available: http://www.contiki-os.org
F. P. team. (2018, Jul.) The FreeRTOS Kernel: Market Leading, Defacto Standard and Cross Platform RTOS kernel. [Online]. Available: http://www.freertos.org/
E. Systems. (2018, Jul.) ESP8266: Low-power, highly-integrated Wi-Fi solution. [Online]. Available: https://espressif.com/en/products/hardware/esp8266ex/overview
(2018, Jul.) MQTT Standard and Project Page. [Online]. Available: http//mqtt.org/
P. P. team. (2018, Jul.) Eclipse Paho: An open-source client implementations of MQTT. [Online]. Available: http://www.freertos.org/
S. Automation. (2018, Jul.) A community developed open source FreeRTOS-based framework for ESP8266. [Online]. Available: https://github.com/SuperHouse/esp-open-rtos
E. Corporation. (2018, Jul.) Espressif ESP8266 non OS SDK. [Online]. Available: https://github.com/esp8266/Arduino
Publicado
06/11/2018
Como Citar
BANDERCHUK, Ana Cláudia; ALLEBRANDT, Diesson Stefano; LOHMANN, Daniel; STARKE, Renan Augusto.
Organização de uma rede machine to machine (M2M) para controle distribuído de um robô humanoide. In: TRABALHOS EM ANDAMENTO - SIMPÓSIO BRASILEIRO DE ENGENHARIA DE SISTEMAS COMPUTACIONAIS (SBESC), 8. , 2018, Salvador.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2018
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ISSN 2763-9002.
