A Health and Usage Monitoring System for ROS-based service robots

2015 10th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2015-12-01 DOI:10.1109/ISMA.2015.7373493

Eduardo Pinto, Pedro Deusdado, Francisco Marques, André Lourenço, Ricardo Mendonça, P. Santana, Luís Flores, J. Barata

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引用次数: 2

Abstract

This paper presents a multi-core processing solution for ROS-based service robots. The power management together with the control and availability of the processing resources are supervised by a custom-made Power Management Board (PMB) based on a Digital Signal Processor (DSP) micro controller, implementing a Health and Usage Monitoring System (HUMS). The proposed architecture also allows for the PMB to control the most critical robot functions in case of low battery conditions or impossibility of performing energy harvesting, thus extending the lifespan of the robot. All PMB data is recorded on a SD card so as to allow offline analyses of the robotic mission and, thus, support subsequent maintenance activities. Two different implementations of the proposed system have been fielded in two Multi-Robot Systems (MRS) for environmental monitoring, covering aerial, water surface, and wheeled ground vehicles. An additional implementation of the architecture is currently being deployed on an industrial autonomous logistics robot. These three implementations are presented and discussed.

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基于ros的服务机器人健康与使用监测系统

提出了一种基于ros的服务机器人多核处理方案。电源管理以及处理资源的控制和可用性由基于数字信号处理器(DSP)微控制器的定制电源管理板(PMB)监督，实现健康和使用监测系统(HUMS)。该架构还允许PMB在电池电量不足或无法进行能量收集的情况下控制最关键的机器人功能，从而延长机器人的使用寿命。所有PMB数据都记录在SD卡上，以便对机器人任务进行离线分析，从而支持后续的维护活动。提出的系统的两种不同实现已经在两个多机器人系统(MRS)中用于环境监测，覆盖空中，水面和轮式地面车辆。该架构的另一个实现目前正在工业自主物流机器人上部署。提出并讨论了这三种实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2015 10th International Symposium on Mechatronics and its Applications (ISMA)

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