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Software control architecture

The user first decomposes the experimental procedure into an appropriate sequence of tasks. This task sequence is then input to the system through a Graphical User Interface (G.U.I), using a task description language specifically developed for the MiCRoN platform (Micron Task Language -MiTL). A lexical parser parses the input task description and retrieves relevant task data from a task bank to create a sequence of motion and tool commands. The commands are fed to a simulation stage for feasibility verification. Successful task sequences are routed for execution by the system controller. Motion data are wirelessly provided to the micro-robots and a sensor based fusion scheme is then applied to close the control loop.

The main s/w modules of the architecture are:

The Parser class: This class parses the input text. Generates appropriate data structures that encapsulate the goals and info related to the participating robots.
TaskSupervision class: Implements the Task Supervision unit.
Coordinator class: Is the class responsible for interfacing the navigation algorithm to the Supervision unit.
TrajectoryTracking class: Is responsible for the trajectory-tracking algorithm.
InputData class: Is the class responsible for storing goal configuration, tool commands and controller parameter data structures. SetOfExeptions class: Is the class that includes all the possible exceptions that can be generated by the Simulation Unit.
RobotModel class: Incorporates information about the robot model like maximum velocities per DOF and kinematic models for each robot to actuate them.

Several other subsidiary classes fill-in the software architecture.

Reported by

National Technical University of Athens
9, Heroon Polytechniou str., Zografou
15773 Athens
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