Chapter 462

Chapter 465

delay and consistency are the most basic problems in the research and development of intelligent robots, but they can not be ignored.

From the command to the command execution, the intelligent robot of Xingyun technology can be controlled in about 10 milliseconds.

But it's not enough, it's not enough!

At present, the industry's top level, the delay can not exceed 5 ms.

Maybe ordinary users can't notice the difference between 10 ms delay and 5 ms delay, but this is not the reason why Nebula technology does not pursue improvement.

After all, if their company can really control the delay within 5 milliseconds, it can be used as another propaganda point.

Let's talk about consistency.

The so-called consistency control is to design a suitable controller to coordinate the control of agents, which can constantly adjust and update their own states with the help of the state information of neighboring agents, and finally make all agents in the system converge.

In short, it means that each component of the intelligent robot completes a unified specified action at the same time.

There is a necessary connection between the delay problem and the consistency control problem.

Due to the existence of time delay, there is no agreement between the intelligent robot systems.

But this does not mean that the consistency problem is solved when the delay problem is solved.

In order to achieve consensus control, only reducing the delay is not enough.

"Mr. Lanny, can I have a look at the process parameters of these intelligent robots in your company?" Cheng Nuo turns to Mr. Lanny.

Mr. Lanny hesitated for a moment, but nodded positively. "OK, I'll have the data pulled out right away."

Ten minutes later, a researcher in a white coat came in with a pile of forms.

"President Lanny, this is the data you asked me to print."

"Well, give it directly to this gentleman."

Cheng Nuo took the form and scanned it at a glance.

At present, there are 15 kinds of intelligent robots produced by Xingyun company. Due to different shapes and functions, there is a big gap in the process parameters of each kind of intelligent robots.

Similar but basic components.

Mechanical body, controller, sensor, driver, a total of four parts.

For example, the simplest intelligent sweeping robot is composed of a disk-shaped mechanical appearance, collision sensor, continuous ranging infrared sensor, ATMEL microcontroller, harmonic gear driver.

Cheng Nuo simply looked through the table and found that the only four components of the 15 kinds of intelligent robots are the controller.

They all use ATMEL microcontroller, with 4K bytes in system programming (ISP) flash memory, three-level program encryption lock, 128x8 byte internal RAM, 32 programmable I0 port lines, and 2 16 bit timing counters.

This kind of MCU can be said to be good a few years ago, but today it can only be said to be general.

Since we want to solve the problem from the root, Cheng Nuo thinks that this controller is the key.

"Does your company have the idea of replacing the internal controller of intelligent robot with a single chip microcomputer? For example Motorola MCU

In Cheng Nuo's idea, if you can solve problems with money, you should try to use money to solve them.

"Professor Cheng, I'm afraid you don't know the price of Motorola single chip microcomputer. I'm afraid that this single chip microcomputer alone will cost more than the total cost of the other three components."

"In this way, we will have little profit."

"All right." Cheng Nuo shrugged, indifferent way, "in this case, I can only come."

"Cheng What do you mean, Professor Cheng? "

"Since ATMEL can't meet your requirements, and the reality doesn't allow you to buy a higher quality controller, the only way is to build a single-chip microcomputer yourself." Cheng Nuo's answer is very natural.

But Mr. Lanny heard it was thunder.

He swallowed his spit hard, "build MCU, we?"

Cheng Nuo calmly smile, pointing to himself, "no, it's me, myself."

Cheng Nuo raised his hand and kept smiling. "Mr. Lanny, don't be surprised. I don't mean to create a new single chip microcomputer. It's basically impossible, even if you add your company's researchers."

"What do you mean?" Mr. Lanny suppressed his surging mood.

"On the basis of ATMEL single chip microcomputer to carry on the transformation." Cheng Nuo replied, "in the case of constant performance parameters, by changing the internal structure of the conduction mode, to achieve the purpose of intelligent system consistency control."

"It should be very difficult, isn't it?" Mr. Lanny is not a researcher and doesn't know much about it.

Cheng Nuo deeply thought ran nodded, "well, it's really difficult."

"How long does that take?" Asked Mr. Lanny eagerly.At present, they are not allowed to kill pigs when they are fattening their necks.

In Mr. Laney's idea, it will take at least one to two weeks to improve a single-chip microcomputer!

Who expected, Cheng Nuo said casually, "half a day."

Poof!

Mr. Lanny almost vomited out a mouthful of old blood.

Half a day!

Mr. Lanny's eyes were wide, and his face was very funny.

Then, in a hoarse voice, "really?"

Cheng Nuo innocently nodded, "conservative estimate half a day, in fact, if everything goes well, two hours is enough."

Mr. Lanny:.... "

If he didn't know the reality of the process in advance, he doubted whether he had paid for a liar to come back.

But out of the awe of Cheng Nuo, he still chose to believe Cheng Nuo, "then what do you need, I will prepare immediately."

"A computer, a quiet room, scratchpad and pen, by the way, bring one ATMEL MCU."

Cheng Nuo is welcome.

Soon, everything was arranged.

Cheng Nuo took a look at the time, 9:34, if fast, but also in time for lunch.

For the improvement of ATMEL microcontroller, Cheng Nuo has long had a case.

In fact, simplifying the problem of consistency and expressing it in mathematical language is a very common network topology problem.

By using the generalized Nyquist criterion and gerachgorin disk theorem in frequency domain control theory, a dynamic model can be established by describing the directed graph.

With Cheng Nuo's current level, solving such problems can't be described by hand, but it's still not a big problem.

【…… If the system λ I (g (e ^ J ω) is in the unit circular region λ I (g (e ^ J ω) ∈ {θ: θ∈ C, | (c + JD) | 12 holds. 】

[for discrete-time multi-agent system 3, if there is τ < 2 (1-td) (1 - α) π ^ 2TD for ∨ I ∈ I, then the asymptotic stability of the discrete-time multi-agent system reaches consensus, then 】

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