Chapter 465

Although the problem of delay and consistency is the most basic problem in the research and development of intelligent robots, it is an existence that cannot be ignored.

From the command to execute the command, the intelligent robot of Nebula Technology can be controlled within about 10 milliseconds.

But this is not enough, it is far from enough!

Currently, the industry's top-notch level, the time delay cannot exceed 5 milliseconds.

Perhaps ordinary users cannot detect the difference between 10 millisecond delay and 5 millisecond delay, but this is not the reason why Nebula Technology does not pursue improvement.

After all, if their company can really control the delay to less than 5 milliseconds, it can be regarded as another publicity point.

Let’s talk about consistency.

The so-called consistency control means designing a suitable controller to coordinate the control of an individual in an agent, and can continuously adjust and update its own state with the help of adjacent agent state information, ultimately causing all agent states to converge.

Simply put, it is that all components of the intelligent robot complete unified designated actions within the same time.

There is a necessary connection between delay issues and consistency control issues.

Due to the existence of delay, it is impossible to reach an agreement among various systems of intelligent robots.

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

To achieve consistency control, it is not enough to just reduce the delay.

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

Mr. Lanny hesitated for a moment, but nodded affirmatively, "Okay, I'll get someone to get the data out right away."

Ten minutes later, a researcher in a white coat walked in with a stack of forms.

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

"Well, just give it to this gentleman."

Cheng Nuo took the form and glanced at ten lines at a glance.

There are currently 15 intelligent robots produced by Nebula Company. Due to the different shapes and functions, there is a big gap in the process parameters of each intelligent robot.

But the components are basically similar.

There are four parts: mechanical body, controller, sensor, and driver.

For example, the simplest intelligent sweeping robot is composed of a disc-shaped mechanical appearance, collision sensor, continuous distance measurement infrared sensor, atmel microcontroller, and harmonic gear transmission.

Cheng Nuo briefly looked through the table and found that the only similar components of these 15 intelligent robots is the controller part.

They all use an Atmel microcontroller, with 4k bytes in-system programming (isp) flash flash memory, a three-level program encryption lock, 128x8 byte internal ram, 32 programmable i/0 port lines, and 2 16-bit timing/counter.

This microcontroller was pretty good a few years ago, but today it can only be said to be just as good as it is.

Since we need to solve the problem from the root, Cheng Nuo believes that the key is to have this controller.

"Does your company have the idea of ​​replacing the controller inside the intelligent robot with a microcontroller? For example...motorola microcontroller?"

In Cheng Nuo's concept, try to solve problems that can be solved with money.

Mr. Lanny smiled bitterly, "Professor Cheng, you probably don't know the price of the motorola microcontroller. This microcontroller alone is probably higher than the total cost of the other three components."

"In this case, we will basically have no profit."

"Okay." Cheng Nuo shrugged and said indifferently, "Since that's the case, I can only come by myself."

"Professor Cheng... Professor Cheng, what do you mean?"

"Since the Atmel microcontroller cannot meet your requirements and the reality does not allow you to buy a higher quality controller, the only way is to build a microcontroller yourself." Cheng Nuo's answer was very natural.

But Mr. Lanny heard it was thunder.

He swallowed hard, "Make a microcontroller, we?"

Cheng Nuo smiled calmly and pointed at himself, "No, it's me, myself."

Cheng Nuo raised his hand and kept smiling, "Mr. Lanny, don't be surprised. Of course, I don't mean to create a new microcontroller. That is basically impossible, even if you add the scientific researchers in your company, it will be difficult to do it."

"Then are you referring to?" Mr. Lanny suppressed his surging mood.

"Renovation based on the atmel microcontroller." Cheng Nuo replied, "With its performance parameters unchanged, the purpose of intelligent system consistency control is achieved by changing the internal structure transmission method."

"This should be difficult, right?" Mr. Lanny was not a scientific researcher and did not have a deep understanding of it.

Cheng Nuo nodded deeply, "Well, it's really a bit difficult."

"How long will it take?" Mr. Lanney asked anxiously.

Time is money. At present, those large conglomerates are sharpening their knives. Maybe when will they put the butcher knife on the necks of fat pigs that have been fattened.

In Mr. Lanny's concept, it will take at least one to two weeks to improve a microcontroller!

Unexpectedly, Cheng Nuo said casually, "Let's go for a long time."

puff-!

Mr. Lanny almost vomited an old blood.

long time!

Mr. Lanny's eyes widened, looking at you, are you teasing me?

Then, he spoke in a hoarse voice, "Really?"

Cheng Nuo nodded innocently, "I guess it's conservative for half a day. In fact, if everything goes well, two hours will be enough."

Mr. Lanny: “…”

If he hadn't learned about Cheng Nuo in advance, he would have doubted whether he suspected that he had spent money to hire a liar to come back.

But out of awe of Cheng Nuo, he chose to believe Cheng Nuo, "Then I will prepare it immediately if you need anything."

"A computer, a quiet room, draft paper and pen, by the way, take one of the Atmel microcontrollers."

Cheng Nuo is not polite either.

Soon, everything was arranged.

Cheng Nuo glanced at the time and said that at 9:34, if it was fast, he could still get lunch.

Cheng Nuo has long had a problem with the improvement of the Atmel microcontroller.

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

Using the generalized nyquist criterion and gerahgorin disk theorem in frequency domain control theory, a dynamic model can be established through the description of directed graphs.

With Cheng Nuo's current level, although solving such problems cannot be described as easy-to-hand, there is still no big problem with flowing.

【…If the necessary and sufficient condition for the system λi(g(e^j) in the unit circular area λi(g(e^j)∈{θ:θ∈c,θ-(+jd)＜+jd}n, does not surround the point (-1,j0) is to v∈-π,π, and there is >1/2.】

[For discrete multi-agent system three, if for vi∈i, there is t＜2(1-td)/(1-a)π^2td, then the discrete multi-agent system will reach consistency stability, then...]
Chapter completed!