Changes between Version 23 and Version 24 of Burt-Research/SystemOverview


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Timestamp:
Jan 24, 2018, 8:56:14 PM (6 years ago)
Author:
al
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  • Burt-Research/SystemOverview

    v23 v24  
    1 = BURT Research - System Overview =
     1= BURT Research - System Overview - Documentation =
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     3BURT-Research offers a Research Environment that comprises two libraries, BurtSharp and BurtSharp.UnityInterface, and a Medical demo application. Figure 1 shows a high-level physical and software architecture overview of the BURT system.
     4
     5{{{
     6#!div class="left" align="left"
     7[[Image(htdocs:therapy/SystemOverview/BURT-System-Overview.PNG)]]
     8
     9'''Figure 1: BURT system overview.'''
     10}}}
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    412BurtSharp is a client program to communicate with the Mainboard firmware through a CoAP/UDP-based server to control the BURT robot. BurtSharp provides the ability to monitor and respond to robot state information (position, configuration, fault states, etc.), basic control functions to specify robot behavior, and an interface to provide this functionality to Unity games. The BurtSharp control library is not real-time as it is built on top of Linux, which is not inherently real-time. BurtSharp uses similar communication protocol like ROS. Even though is fast, it is inherently best-effort in many cases and does not provide guarantees about the timing of control operations. ROS utilizes TCP/IP communication which is not able to achieve real-time communication over Ethernet. Although, BurtSharp uses the Constrained Application Protocol (CoAP) which was developed for devices constrained in terms of processing capabilities and power.
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    11 {{{
    12 #!div class="left" align="left"
    13 [[Image(htdocs:therapy/SystemOverview/BURT-System-Overview.PNG)]]
    14 
    15 '''Figure 1: BURT system overview.'''
    16 }}}
    17 
    18 
    1919== Software Architecture Hierarchy ==
    2020
    21 BURT-Research offers a Research Environment that comprises two libraries, BurtSharp and BurtSharp.UnityInterface, and a Medical demo application. Figure 1 illustrates the architecture of the two libraries that the Research Environment consists of. BurtSharp is a client program that communicates and controls the BURT robot, and BurtSharp.UnityInterface is an extension to BurtSharp that allows use of haptic objects and fixtures with Unity. Researchers can use these two libraries to test their control and haptic modules and can develop their own research tools.
     21Figure 2 illustrates the software architecture of the two libraries that the Research Environment consists of. BurtSharp is a client program that communicates and controls the BURT robot, and BurtSharp.UnityInterface is an extension to BurtSharp that allows use of haptic objects and fixtures with Unity. Researchers can use these two libraries to test their control and haptic modules and can develop their own research tools.
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