Preliminary block diagram representation of SW architecture Sample Clauses

Preliminary block diagram representation of SW architecture. Two software architectures will be investigated. The first architecture assumes that at least one PC will be installed on the surface station and at least one on the underground BADGER robot. Hence, software modules are distributed between the surface station and the on-board PCs. Computationally intensive code runs on the surface station, where there are no space restrictions, and more than one PCs and GPUs can be accommodated. Less computationally demanding code runs on the PC(s) installed on the underground robot. The second architecture assumes that for economy of space all PCs are installed on the surface station and that the underground robot is equipped only with PLCs and microcontrollers. In this case, all important software modules run on the surface station and control commands are transmitted to the robot through Ethernet communication. Figure 16 and Figure 18 present preliminary indicative designs of these two architectures. Figure 16: Computational power is provided by PC(s) on the Central Computer (surface station) and on the underground robot. Time-critical software modules are executed on board the underground robot, less time-critical modules but computationally more intensive, re executed on the Central Computer installed in the central station. The Central Coomputer block is connected to the underground robot block through the router and to rover robot block via bluetooth (Connection A). Figure 17: Computational power is provided by PC(s) on the Central Computer (surface station) and on the underground robot. Time-critical software modules are executed on board the underground robot, less time-critical modules but computationally more intensive, re executed on the Central Computer installed in the central station. The Central Coomputer block is connected to the underground robot block through the router and to rover robot block via bluetooth (Connection A). Figure 18: The computational power is installed on the surface station PC(s). All algorithmic computations are executed there and actuation and operation commands are dispatched directly to PLCs installed on the underground robot modules. The central computer block is connected to the rover robot block via bluetooth (Connection A).
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