A new reactive operating system for human-robot interaction

摘要

Robots which interact and cooperate with humans are required to be sensitive to changes of their surrounding environment for handling physical resources and supporting open and distributed human-robot-computer systems. But it is difficult to incorporate sensitivity into real-time systems, and to identify the owner of a physical resource in an open and distributed human-robot-computer society. In this paper, we formulate a physical ownership model which is a possible solution to the managing of physical resources among humans and robots. Then we present a reactive operating system PULSER which supports the implementation of the model. A new interrupt mechanism is proposed to support sensitivity with real-time facility and a physical resource manager is implemented to support the ownership model. Also, we describe a new facility for wireless communication in open and distributed systems.