Response Time Estimation in Robotics Using Hierarchical Performance Modeling Approach

• Autorzy: Alsheikhy Ahmed , Almutiry Muhannad

Identyfikatory

DOI

10.12913/22998624/142655

• Języki publikacji: EN

Abstrakty

EN

The Multi-disciplinary domain of robotics has become instrumental in advancements in many fields such as medical, military and industrial automation. They are used to ensure reliability, stability and precision. Particularly, they are preferred to be used in an environment where uncertainties and disturbances occur. Measuring or estimating a performance metric such as response time or throughput under severe circumstances is crucial since designers want to know the behavior of robots and their reaction when a constrained condition is applied. The present research applies the framework proposed earlier on a robotic manipulator to predict a performance metric, this paper considers only the execution time which is also known as the response time. In addition, a comparison is performed between predicted and actual values. All values herein are average ones. A simulation system in MATLAB is used to find out the differences between the predicted and actual values. Results demonstrate that the proposed framework is capable of finding the needed metric or metrics and determining/spotting bottleneck(s) inside any system under consideration as it has been verified by several experiments.

Słowa kluczowe

EN

framework; robotics; automation; response time

PL

rama; robotyka; automatyzacja; czas reakcji

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2021
• Tom: Vol. 15, no 4
• Strony: 14--20
• Opis fizyczny: Bibliogr. 11 poz., fig., tab.

Twórcy

autor

Alsheikhy Ahmed

• Electrical Engineering Dept. Faculty of Engineering, Northern Border University, Arar, Saudi Arabia

• https://orcid.org/0000-0002-9811-0341

autor

Almutiry Muhannad

• Electrical Engineering Dept. Faculty of Engineering, Northern Border University, Arar, Saudi Arabia

Bibliografia

• 1. Iqbal J., Islam R.U., Abbas S.Z., Khan A.A., Ajwad S.A. Automating industrial tasks through mecha tronic systems–A review of robotics in industrial perspective Tehnički vjesnik. 2016;23:917–924.
• 2. Alsheikhy A., Han S., Ammar R. Hierarchical per formance modeling of embedded systems in 2015 IEEE Symposium on Computers and Communica tion (ISCC), 2015, 936–942.
• 3. Smarkusky D., Ammar R., Antonios I., Sholl H. Hierarchical performance modeling for distributed system architectures in Proceedings ISCC 2000. Fifth IEEE Symposium on Computers and Com munications, 2000, 659–664.
• 4. Alsheikhy A., Han S., Ammar R. Delay and power consumption estimation in embedded systems using hierarchical performance modeling in 2015 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT). 2015, 34–39.
• 5. Ajwad S.A., Iqbal J., Islam R.U., Alsheikhy A., Almeshal A., Mehmood A. Optimal and robust control of multi DOF robotic manipulator: Design and hardware realization Cybernetics and Systems. 2018;49:77–93.
• 6. Yan Z., Fabresse L., Laval J., Bouraqadi N. Metrics for performance benchmarking of multi-robot exploration in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, 3407–3414.
• 7. Quispe A., Ben-Amor H., Christensen H. A taxono my of benchmark tasks for bimanual manipulators in Proc. Int. Symp. Robotics Research, 2015, 1–10.
• 8. El-Hussieny H., Assal S.F., Abdellatif M. Ro botic exploration: new heuristic backtracking al gorithm, performance evaluation and complexity metric International Journal of Advanced Robotic Systems. 2015;12:33.
• 9. Iqbal U., Samad A., Nissa Z., Iqbal J. Embedded control system for AUTAREP-A novel autonomous articulated robotic educational platform Tehnički vjesnik-Technical Gazette. 2014;21:1255–1261.
• 10. Manzoor S., Islam R.U., Khalid A., Samad A., Iqbal J. An open-source multi-DOF articulated ro botic educational platform for autonomous object manipulation Robotics and Computer-Integrated Manufacturing. 2014;30:351–362.
• 11. Iqbal J. Modern control laws for an articulated robotic arm Engineering, Technology & Applied Science Research. 2019;9:4057–4061.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).