Robust Communications for High Bandwidth Real-Time Systems

6 Chapter 1: Introduction 7 1.1 Background 8 1.2 Motivation and Goals of this Thesis 9 1.3 Related Work 11 1.4 Research Issues 14 Chapter 2: Design and Implementation 15 2.1 The Communication Protocol 16 2.2 The Communication Architecture 17 2.3 The Connection Model 19 2.4 Messages 21 2.4.1 Defining Messages 21 2.4.1.1 Message Format Grammar 21 2.4.1.2 Primitive Data Types 24 2.4.1.3 Composite Data Types 25 2.4.1.4 Dynamic Data Types 26 2.4.1.5 Lexical Analysis 29 2.4.2 Message Queues 29 2.4.2.1 TCP Message Queues 29 2.4.2.2 Shared Memory Queues 31 2.4.3 Registering Messages 31 2.5 Portability 32 2.6 Control Flow 33 2.7 Sending and Receiving 35 2.8 Publishing and Subscribing 36 2.9 System Shutdown 37 Chapter 3: Results 38 3.1 Autonomous Excavation 39 3.2 Autonomous Continuous Underground Mining 40 3.3 Autonomous Harvesting 41 3.4 Synthesis Tools for Robot Configurations 42 3.5 Performance Results 43 3.6 Supported Platforms 47 Chapter 4: Conclusions and Future Work 49 4.1 Conclusions 50 4.2 Future Work 50