A design of a data accessing service for a real-time vision service in the resource sharing architecture

Abstract

A resource sharing architecture (RSA) is a robot architecture for a mobile robot in a networked and intelligent space. A robot based on a RSA performs its tasks by sharing many external resources around it and thus has a simple, flexible and low priced structure. However, RSA has a problem as it must guarantee a real-time condition, because it is designed to use the network protocol JINI. For an example, a time delay occurs in transferring data from a vision service to a robot control service. In this paper, we propose a data accessing service (DAS) to solve this problem. It is a service of a network protocol JINI, which transfers data between two services. Its basic function is to find a data source service that a data destination service needs, and after doing this, the DAS transfers data between two services using not JINI, but another network protocol such as TCP/IP or UDP. As a result, we can reduce the time delay to access data. Some experimental results show the validity of our proposition.