NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems
This paper discusses the design and interface of NUClear, a new hybrid message-passing architecture for embodied humanoid robotics. NUClear is modular, low latency and promotes functional and expandable software design. It greatly reduces the latency for messages passed between modules as the messag...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2016-04-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/Journal/10.3389/frobt.2016.00020/full |
| _version_ | 1818542611042926592 |
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| author | Trent eHouliston Jake eFountain Yuqing eLin Alexandre eMendes Mitchell eMetcalfe Josiah eWalker Stephan K. Chalup |
| author_facet | Trent eHouliston Jake eFountain Yuqing eLin Alexandre eMendes Mitchell eMetcalfe Josiah eWalker Stephan K. Chalup |
| author_sort | Trent eHouliston |
| collection | DOAJ |
| description | This paper discusses the design and interface of NUClear, a new hybrid message-passing architecture for embodied humanoid robotics. NUClear is modular, low latency and promotes functional and expandable software design. It greatly reduces the latency for messages passed between modules as the messages routes are established at compile time. It also reduces the number of functions that must be written using a system called co-messages which aids in dealing with multiple simultaneous data. NUClear has primarily been evaluated on a humanoid robotic soccer platform and on a robotic boat platform, with evaluations showing that NUClear requires fewer callbacks and cache variables over existing message-passing architectures. NUClear does have limitations when applying these techniques on multi-processed systems. It performs best in lower power systems where computational resources are limited. Future work will focus on applying the architecture to new platforms, including a larger form humanoid platform and a virtual reality platform and further evaluating the impact of the novel techniques introduced. |
| first_indexed | 2024-12-11T22:24:22Z |
| format | Article |
| id | doaj.art-846a54356872477aae78b913a0ef3fdb |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-11T22:24:22Z |
| publishDate | 2016-04-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-846a54356872477aae78b913a0ef3fdb2022-12-22T00:48:20ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442016-04-01310.3389/frobt.2016.00020175148NUClear: A Loosely Coupled Software Architecture for Humanoid Robot SystemsTrent eHouliston0Jake eFountain1Yuqing eLin2Alexandre eMendes3Mitchell eMetcalfe4Josiah eWalker5Stephan K. Chalup6University of NewcastleUniversity of NewcastleUniversity of NewcastleUniversity of NewcastleUniversity of NewcastleUniversity of NewcastleUniversity of NewcastleThis paper discusses the design and interface of NUClear, a new hybrid message-passing architecture for embodied humanoid robotics. NUClear is modular, low latency and promotes functional and expandable software design. It greatly reduces the latency for messages passed between modules as the messages routes are established at compile time. It also reduces the number of functions that must be written using a system called co-messages which aids in dealing with multiple simultaneous data. NUClear has primarily been evaluated on a humanoid robotic soccer platform and on a robotic boat platform, with evaluations showing that NUClear requires fewer callbacks and cache variables over existing message-passing architectures. NUClear does have limitations when applying these techniques on multi-processed systems. It performs best in lower power systems where computational resources are limited. Future work will focus on applying the architecture to new platforms, including a larger form humanoid platform and a virtual reality platform and further evaluating the impact of the novel techniques introduced.http://journal.frontiersin.org/Journal/10.3389/frobt.2016.00020/fullbipedrobot learningrobot visionhumanoid robotssoftware architectureblackboard architecture |
| spellingShingle | Trent eHouliston Jake eFountain Yuqing eLin Alexandre eMendes Mitchell eMetcalfe Josiah eWalker Stephan K. Chalup NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems Frontiers in Robotics and AI biped robot learning robot vision humanoid robots software architecture blackboard architecture |
| title | NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems |
| title_full | NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems |
| title_fullStr | NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems |
| title_full_unstemmed | NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems |
| title_short | NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems |
| title_sort | nuclear a loosely coupled software architecture for humanoid robot systems |
| topic | biped robot learning robot vision humanoid robots software architecture blackboard architecture |
| url | http://journal.frontiersin.org/Journal/10.3389/frobt.2016.00020/full |
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