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 within the real-time robotic control system to schedule the logging of real-time data segments, allowing precise definition of data to be logged and ensuring data privacy by flagging certain segments as 'private, with a scheduler generating a schedule for copying data to a buffer accessible by a downstream system without interfering with the system's operation.
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 reliability deteriorates due to additional I/O operations
Solution Approach 1:
The patent segments real-time data into discrete control messages with specific timestamps, allowing selective logging of individual data segments rather than continuous data streams. This segmentation enables the system to log only critical data portions without capturing every intermediate value, thereby reducing I/O overhead while maintaining monitoring capability.
Solution Approach 2:
The system performs preliminary actions by pre-allocating buffer memory and pre-defining logging triggers based on data segment types. Data segments are prepared for logging with metadata tags indicating their importance, allowing the logging mechanism to efficiently select and capture only predetermined critical segments without real-time decision overhead that would disrupt timing.
2Loss of information
If asynchronous commands and time-intensive I/O operations are added for logging, then data logging capability is improved, but real-time operation reliability deteriorates due to missed deadlines
Solution Approach 1:
The patent introduces an intermediary buffer memory structure that decouples the real-time control loop from the logging operation. Control messages are first written to this intermediary buffer during real-time execution, and logging occurs asynchronously from the buffer without blocking the control loop. This intermediary mechanism enables comprehensive logging while maintaining strict real-time deadlines.
Solution Approach 2:
The system implements periodic logging at predetermined intervals or at specific phases of the control cycle rather than continuously logging all data. This periodic approach captures essential data segments at regular intervals, providing sufficient monitoring capability while minimizing I/O operation frequency and its impact on real-time performance.
3Loss of information
If all real-time data segments are logged without selection, then data completeness is improved, but system complexity increases due to handling and processing overhead
Solution Approach 1:
The patent applies local quality by assigning different logging priorities and characteristics to different data segments based on their specific importance. Critical control commands receive high-priority logging with detailed capture, while less important telemetry data receives lower-priority or summary logging. This differentiated approach ensures data completeness for critical operations while reducing processing overhead for non-critical data.
Solution Approach 2:
The system implements partial logging by capturing only the essential portions of real-time data that are necessary for monitoring and debugging, rather than logging every single data segment. This selective partial action provides sufficient data completeness for system analysis while significantly reducing the volume of data handling and processing required.
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.