Robotic Control Data Logging With Scheduled Buffer Copying
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Solution Overview
Problem
Real-time robotic control systems face challenges in logging all segments of real-time data due to strict timing requirements, which limits asynchronous commands and intensive input/output operations, and existing techniques do not allow comprehensive monitoring of real-time data throughout system execution.
Innovation Solution
A structured model is implemented in the real-time robotic control system to log every segment of real-time data by generating a schedule for copying real-time messages to a buffer accessible by a downstream system, ensuring data privacy through flagging certain segments as 'private' and allowing precise configuration of what data to log, ensuring compliance with regulations like GDPR.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If comprehensive logging of all real-time data segments is implemented, then data monitoring capability is improved, but system timing requirements are violated
Solution Approach 1:
The patent segments real-time data into discrete messages with defined lifecycles, allowing selective logging of individual message segments rather than attempting to log all data continuously. This segmentation enables the system to log specific data portions without compromising overall real-time performance.
Solution Approach 2:
The patent implements preliminary scheduling of logging operations during system configuration, determining in advance which messages should be logged and when. This preliminary action allows the logging system to be prepared beforehand, minimizing interference with real-time operations during actual execution.
2Adaptability or versatility
If asynchronous commands and time-intensive I/O operations are added, then logging capability is improved, but real-time operation reliability deteriorates
Solution Approach 1:
The patent introduces an intermediary logging buffer that decouples the real-time control loop from data logging operations. Messages are copied to this intermediary buffer during real-time execution, and logging occurs asynchronously from the buffer, allowing comprehensive logging without blocking real-time operations.
Solution Approach 2:
The patent implements a copying mechanism where real-time messages are replicated to a logging buffer rather than being processed directly. This copying approach allows the original real-time message to be handled immediately while a copy is logged asynchronously, maintaining real-time reliability while enabling comprehensive logging.
3Loss of information
If all real-time messages are logged to buffer, then data completeness is improved, but system complexity increases
Solution Approach 1:
The patent applies local quality by allowing different messages to have different logging characteristics based on their importance and characteristics. Not all messages are logged with the same priority or retention period, enabling data completeness for critical messages while reducing overall system complexity through selective logging.
Solution Approach 2:
The patent implements dynamic message lifecycle management where messages are automatically archived or deleted based on their age, type, and importance. This dynamic approach ensures that necessary data remains complete while unnecessary data is automatically removed, maintaining data completeness where needed while reducing system complexity overall.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system. One of the systems comprises a real-time robotic control system comprising one or more computers, programmed to perform operations comprising i) software module loops and ii) real-time data logging, wherein each software module loop comprises a plurality of software modules executed repeatedly in a predetermined sequence, each software module executes within a predetermined time window, and the real-time data logging comprises copying segments of real-time data used by a particular software module to a buffer accessible by a non-real-time downstream system, wherein each segment of real-time data is copied at a respective predetermined time relative to execution of the software modules in the software module loop; and the non-real-time downstream system comprising one or more computers, the non-real-time downstream system programmed to perform operations that consume the real-time messages.