Diploma Thesis
Title
"A distributed real-time computing architecture for autonomous robotic environments using Time-trigered Message-triggered Objects (TMOs)"
Grading supervisors (University of Paderborn/ C-LAB, Germany):
- Dr. rer. nat. Bernd Kleinjohann
- Prof. Dr. rer. nat. Franz Josef Rammig
On-site supervisor:
- Dr. K.H. Kim, Director of DREAM Lab., University of California Irvine (UCI)
Abstract
The distributed real-time computing architecture is a key component of any team of autonomous robots. The soccer robots "Paderkicker" consist of several computing nodes within each robot for autonomous behavior, as well as outside, providing server, feedback and remote-control facilities. Robots must perform autonomous actions in real-time on their own, as part of a team strategy, or remote controlled for testing respective debugging purposes.
The Time-triggered Message-triggered Object (TMO) programming scheme offers a high-level approach to distributed real-time computing. Abstracting from low-level timing constraints and processes, the TMO programmer can apply deadlines to method executions and result-arrival in a very natural manner.
The aim of this thesis is to develop a stable, well-documented TMO architecture for this multi-operating system, multi-network interface and multi-programming language robotic environment, fulfilling all real-time communication and realtime computing requirements.