A mobile robot for vigilance tasks improved with a new robust and low cost communications system immune to attacks with EMI noise

Author

Serrano, J.J. ; Capella, J.V. ; Campelo, J.C. ; Ors, R.

Author_Institution

Dept. of Comput. Eng., Tech. Univ. of Valencia

Volume

2

fYear

2005

fDate

19-22 Sept. 2005

Lastpage

123

Abstract

This work pretends to develop a robot for vigilance tasks that are able to tolerate diverse kinds of attacks and be able to operate in environments with elevated electromagnetic noise, being even immune to sabotage provoked by means of high electromagnetic fields. A new CAN based communications system that interconnects the different devices that compose the mobile robot has been developed to achieve this goal. The system is based on a shielded communications hub, that interconnects diverse nodes by means of CAN. On the other hand, the point to point communication between each node and the hub is carried out by means of economic optical fiber. With this approach all robot devices are connected by means of CAN, although an optical fiber arrives to each device. In this manner, the total immunity to the electromagnetic noise that the optical fiber transmission presents has been added to all the advantages of a system interconnected by means of CAN, among others the low cost

Keywords

controller area networks; electromagnetic fields; fault tolerant computing; magnetic noise; mobile robots; optical fibre communication; controller area network; electromagnetic field; electromagnetic noise; mobile robot; optical fiber transmission; point to point communication system; vigilance task; Costs; Electromagnetic fields; Electromagnetic interference; Electromagnetic shielding; Environmental economics; Mobile communication; Mobile robots; Noise robustness; Optical fibers; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on

Conference_Location

Catania

Print_ISBN

0-7803-9401-1

Type

conf

DOI

10.1109/ETFA.2005.1612670

Filename

1612670