1. ..… System (Virtual Machine) VM AVR AVR AVR Components:
Active Elements:
System (Virtual Machine)
- Adaptable for varieties of task as possible using generic components. VM
AVR
AVR
AVR IP IP IP IP
..…
Motor
Motor
Motor
Components:
- Generic and Minimum as possible.
Motor (instruction packets from VM includes On/Off, Forward/reverse, Speed, Duration)
Read IP-address of adjacent units. Using Internet_0. How to detect IP & communicate?
Taro Narahara 09/03/09

2. ..… System (Virtual Machine) VM AVR AVR AVR AVR Physical Machine
Active Elements:
System (Virtual Machine)
Reconstruct global topology from local connectivity information from each components using Internet-0.
Mental Picture inside the VM VM
AVR
AVR
AVR
AVR IP IP IP IP
..…
Motor
Motor
Motor
Motor
Physical Machine
Taro Narahara 09/03/09

3. Reconstruct Configuration Simulate Movements in VM
Active Elements: VM 3 1 5 3
Physical
Direc: TOP
IP : null;
Rotation: null
State: null
Speed: null
Duration: null
Reconstruct Configuration
Simulate Movements in VM
Send Instructions to Robots
AVR
Direc: RIGHT
IP address: 120;
Rotation: 0 degree
States: On/Off
Forward/Reverse
Speed: 0
Duration: 0 ms
Direc: LEFT
IP address: null;
Rotation: null
State: null
Speed: null
Duration: null
Top
Left Right
Down
AVR
Direc: DOWN
IP : null;
Rotation: null
State: null
Speed: null
Duration: null
Taro Narahara 09/03/09

4. Send Instructions to Robots Move Robots Measure Performance
Active Elements: VM 3 1 5 3
Feedback
Send Instructions to Robots
Move Robots
Measure Performance
(Distance moved, Amount of
Solar-exposure, etc.)
Adjust VM simulation based on Feedback from Physical robots.
Simulates again & send updated instructions.
It is more ambitious to do all this by local communications among components without VM. (fully distributed control)
Physical 3 1 5 3
Taro Narahara 09/03/09