Robotic Mode Control Using Hierarchical Wiring and State Transitions
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Solution Overview
Problem
Current robotic systems face complexity and difficulty in managing real-time transitions between operating modes due to interdependencies between software components, leading to unforeseen behavior and side effects as the number of modes increases.
Innovation Solution
A system and method for controlling operating modes using elementary and meta-components with internal wiring diagrams, transition logic, and a sequencing module that enables hierarchical and recursive nesting, allowing for real-time switching between modes through a main programming interface and finite state automaton logic.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional software applications with conditional switches are used to control multiple operating modes, then the system can implement several operating modes, but the software becomes complex and difficult to code and maintain
Solution Approach 1:
The patent segments the software architecture into discrete, independently controllable components called 'elementary components' with standardized inputs and outputs. Each component can be independently configured and reused across different operating modes, eliminating the need for complex conditional switching logic while maintaining versatility.
Solution Approach 2:
The patent creates universal elementary components that can serve multiple functions across different operating modes. These components have standardized interfaces and can be reconfigured through parameter changes rather than code modification, allowing the same component to function differently in different modes without increasing overall system complexity.
2Adaptability or versatility
If the number of operating modes increases in conventional systems, then the system becomes more versatile, but transitions between modes generate side effects and unforeseen behaviors
Solution Approach 1:
The patent implements dynamic reconfiguration of elementary component parameters and connections based on the current operating mode. Rather than static conditional logic, the system dynamically adjusts component behavior and interconnections through a standardized mechanism that ensures consistent, predictable transitions without side effects.
Solution Approach 2:
The patent incorporates feedback mechanisms that monitor the state of elementary components during mode transitions. This feedback ensures that transitions occur atomically and consistently, preventing partial or inconsistent state changes that could lead to unforeseen behaviors, while maintaining system reliability during versatile operation.
3Speed
If real-time control is implemented in robotic systems, then the system responds quickly to commands, but managing mode transitions in real time becomes difficult due to software complexity
Solution Approach 1:
The patent performs preliminary configuration of elementary components and their interconnections during system initialization and mode definition phases. This pre-establishes the structural framework for all possible operating modes, allowing real-time transitions to simply activate pre-configured component arrangements rather than performing complex reconfiguration computations during real-time operation.
Data Source
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AI summary
The invention relates to a system and method for controlling operating modes of a system, each operating mode being implemented by an execution of one or more software components. This control system (20) comprises software components referred to as elementary components, each elementary component having at least one input suitable for receiving input data and/or at least one output suitable for transmitting output data; and at least one software meta-component (22, 22A, 22B, 22C) having one or more internal wiring diagrams (28, 281-28N), each internal wiring diagram defining interconnections between inputs and outputs of elementary components and/or meta-components, a transition logic (26) between states defining a current state of said system and a sequence between states, at least some of the states corresponding to an implementation of an internal wiring diagram, a mechanism for driving the internal configurations, and a programming interface (24) providing services/functions implementing at least one internal wiring diagram (28, 281-28N).