Publication:
Architecture of a Cyberphysical Avatar

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URI: https://hdl.handle.net/10016/17929
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architecture_REACTION_2012.pdf (934.46 KB)
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2012-12-04
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Universidad Carlos III de Madrid
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Abstract
This paper introduces the concept of a cyberphysical avatar which is defined to be a semi-autonomous robotic system that adjusts to an unstructured environment and performs physical tasks subject to critical timing constraints while under human supervision. Cyberphysical avatar integrates the recent advance in three technologies: body-compliant control in robotics, neuroevolution in machine learning and QoS guarantees in realtime communication. Body-compliant control is essential for operator safety since cyberphysical avatars perform cooperative tasks in close proximity to humans. Neuroevolution technique is essential for ”programming” cyberphysical avatars inasmuch as they are to be used by non-experts for a large array of tasks, some unforeseen, in an unstructured environment. QoS-guaranteed realtime communication is essential to provide predictable, boundedtime response in human-avatar interaction. By integrating these technologies, we have built a prototype cyberphysical avatar testbed.
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REACTION 2012. 1st International workshop on Real-time and distributed computing in emerging applications. December 4th, 2012, San Juan, Puerto Rico.
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Software architecture, Real-time, Cyber physical systems
Bibliographic citation
REACTION 2012, co-located with IEEE RTSS. San Juan, Puerto Rico. December 4th, 2012. Universidad Carlos III de Madrid, 2012, pp. 33-38
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REACTION 2012. First International Workshop on Real-time and distributed computing in emerging applications