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Web Based Wireless Controls for Commercial Building Energy Management
Published in Barney L. Capehart, Timothy Middelkoop, Paul J. Allen, David C. Green, Handbook of Web Based Energy Information and Control Systems, 2020
The FSC and the manager communicate using XML-RPC. XML (extensible markup language) is a standard for creating markup languages that describe the structure of data. It is not a fixed set of elements like HTML, but is a meta-language, or a language for describing languages. XML enables authors to define their own tags. XML is a formal specification of the World Wide Web Consortium. XML-RPC is a protocol that allows software running on disparate operating systems, in different environments to make procedure calls over the internet. It is remote procedure call using HTTP as the transport and XML as the encoding. XML-RPC is designed to be as simple as possible, while allowing complex data structures to be transmitted, processed and returned. The FSC uses XML-RPC to configure wireless network settings, to retrieve certain kinds of network data such as battery life and module status (connected or unreachable), and to set the output voltages of the control modules. Sensor data (e.g., voltages measured by the sensor modules that correspond to temperature) are pushed by the manager to the FSC asynchronously. The FSC parses the incoming XML document and places the sensor data in a database.
Web Based Wireless Controls for Commercial Building Energy Management
Published in Barney L. Capehart, Lynne C. Capehart, Paul Allen, David Green, Web Based Enterprise Energy and Building Automation Systems, 2020
The FSC and the manager communicate using XML-RPC. XML (extensible markup language) is a standard for creating markup languages that describe the structure of data. It is not a fixed set of elements like HTML, but is a meta-language, or a language for describing languages. XML enables authors to define their own tags. XML is a formal specification of the World Wide Web Consortium. XML-RPC is a protocol that allows software running on disparate operating systems, in different environments to make procedure calls over the internet. It is remote procedure call using HTTP as the transport and XML as the encoding. XML-RPC is designed to be as simple as possible, while allowing complex data structures to be transmitted, processed and returned. The FSC uses XML-RPC to configure wireless network settings, to retrieve certain kinds of network data such as battery life and module status (connected or unreachable), and to set the output voltages of the control modules. Sensor data (e.g., voltages measured by the sensor modules that correspond to temperature) are pushed by the manager to the FSC asynchronously. The FSC parses the incoming XML document and places the sensor data in a database.
Robots assembling machines: learning from the World Robot Summit 2018 Assembly Challenge
Published in Advanced Robotics, 2020
Felix von Drigalski, Christian Schlette, Martin Rudorfer, Nikolaus Correll, Joshua C. Triyonoputro, Weiwei Wan, Tokuo Tsuji, Tetsuyou Watanabe
The remaining questions concern the used software framework, motion planner and simulation tools. Half of the responding teams relied at least partially on ROS (SDU Robotics, JAKS, O2AS, CPF). Some also added further tools such as Choreonoid (JAKS), a robotics simulator developed by the National Institute of Advanced Industrial Science and Technology (AIST) Japan, RobWork (SDU Robotics), an open-source collection of C++ libraries for simulation and control of robot systems developed by SDU Robotics, and VEROSIM (SDU), a 3d simulation software. Two teams used a service-oriented, distributed architecture based on XML RPC (Robotic Materials) or gRPC (BerlinAUTs). CMIT stayed in line with their use of Yaskawa products and relied on the MotoCom SDK. Custom motion planners were used by SDU Robotics, JAKS, CPF and CMIT. O2AS used MoveIt, a motion planning framework for ROS. Robotic Materials and BerlinAUTs used only the Cartesian path inverse kinematics provided by the Universal Robot.
Autonomous industrial assembly using force, torque, and RGB-D sensing
Published in Advanced Robotics, 2020
James Watson, Austin Miller, Nikolaus Correll
The control software used for this work is an extension of the RMStudio software, which is a collection of Python 3 libraries for interface with the UR5 robot and SmartHand via Jupyter Notebooks. Here, all sensors and actuators are abstracted into Python libraries that communicate with the sensor and actuator programing interfaces using XML-RPC, RTDE and socket communications, resulting into a single Python script that controls all operations. The Jupyter notebook allows the programmer to execute code step-by-step, visualizing output inline with code, which supports rapid prototyping.