The Interrupts of Mascot Robot System Embedded in RT Middleware based on Fuzzy Logic

Abstract

To deal with the interrupt problem in Mascot Robot System, a control method based on fuzzy priority measure and fuzzy selection criterion is proposed. The fuzzy priority measure is used to define priorities of interrupt instructions. The fuzzy selection criterion based on fuzzy priority measure uses the instruction execution time as well, resulting in optimized responsiveness of the system. This method is embedded in Robot Technology Middleware used to construct environment for humans and robots to communicate in the Mascot Robot System. Five kinds of Eyeball robot's emotions, with different execution times, are used in the experiments on the real system and fuzzy interrupt processing method improves responsiveness of the system for more than 18.5% with the acceptable delay time less than 0.32 seconds. In addition, to classify systems and find out relations between two proposed fuzzy quantities and types of systems, the simulation experiments are also performed and carefully analyzed. This relation is the key feature of the proposed method that can be used to optimize different types of systems.