Omnipotent Data

Chapter 465

Latency and consistency issues, although the most basic issues in the development of intelligent robots, cannot be ignored.

Nebula's intelligent robot can be controlled within about 10 milliseconds from the time the command is issued to the execution of the command.

But this is not enough, not far enough!

Currently the top level in the industry, the delay cannot exceed 5 milliseconds.

Ordinary users may not be able to perceive the difference between 10 milliseconds delay and 5 milliseconds 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 publicity point.

Let alone consistency.

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

To put it simply, 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.

Formally due to the existence of time delay, it leads to the inability to reach agreement among the various systems of the intelligent robot.

But this does not mean that solving the latency problem solves the consistency problem.

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

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

Mr. Lanney hesitated for a moment, but then nodded affirmatively, Okay, I'll have someone pull out the data right away.

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

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

Well, take it directly to this gentleman.

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

Nebula currently produces 15 types of intelligent robots. Due to the difference in shape and function, there is a large gap in the process parameters of each intelligent robot.

But the components are basically similar.

The mechanical body, controller, sensor, and driver are four parts in total.

For example, the simplest intelligent sweeping robot is composed of a disc-shaped mechanical appearance, a collision sensor, a continuous ranging infrared sensor, a single-chip microcomputer, and a harmonic gear drive.

Cheng Nuo simply flipped through the form and found that among the 15 types of intelligent robots, the only part of the four parts that are the same is the controller part.

All use single-chip microcomputers, with 4k bytes of in-system programming (ISP) flash memory, three-level program encryption lock, 128X8 bytes of internal RAM, 32 programmable I/0 lines, and two 16-bit timers/counters.

This kind of single-chip microcomputer could be said to be good a few years ago, but it can only be said to be so-so today.

Since the root cause of the problem was to be solved, Cheng Nuo thought that the controller was the key.

Does your company have the idea of ​​replacing the controller inside the intelligent robot with a single-chip microcomputer? For example... a single-chip microcomputer?

In Cheng Nuo's view, if the problem can be solved with money, it should be solved with money as much as possible.

Mr. Lanney smiled wryly, Professor Cheng, I'm afraid you don't know the price of the single-chip microcomputer. This single-chip microcomputer alone may be higher than the total cost of the other three components.

In this case, we basically have no profit at all.

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

Professor Cheng, what do you mean?

Since the single-chip microcomputer cannot meet your requirements, and the actual situation does not allow the purchase of higher-quality controllers, the only way is to build a single-chip microcomputer by ourselves. Cheng Nuo replied quite naturally.

But Mr. Lanney heard the thunder.

He swallowed hard, Build a single-chip microcomputer, us?

Cheng Nuo smiled calmly, pointed to himself, No, it's me, myself.

Cheng Nuo raised his hand and kept smiling, Mr. Laney, don't be surprised. Of course I don't mean to create a new single-chip microcomputer. It is basically impossible, even with your company's scientific research personnel. do it.

Then what do you mean? Mr. Lanney suppressed his surging mood.

Reform on the basis of the single-chip microcomputer. Cheng Nuo replied, With its performance parameters unchanged, by changing the transmission mode of the internal structure, the purpose of consistent control of the intelligent system can be achieved.

This should be difficult, right? Mr. Lanney is not a scientific researcher, so he doesn't know much about it.

Cheng Nuo nodded approvingly, Well, it's really difficult.

How long will that take? Mr. Lanney asked eagerly.

Time is money, and those big consortiums are currently sharpening their knives, and they can't tell when they will put the butcher knives on the necks of their group of fattened fat pigs.

In Mr. Lanney's opinion, it takes at least one to two weeks to improve a single-chip microcomputer!

Unexpectedly, Cheng Nuo said casually, A long time.

puff-!

Mr. Lanney almost spat out a mouthful of old blood.

long time!

Mr. Lanney's eyes widened, and he looked like, are you fucking kidding me?

Then, with a hoarse voice, he said, Really?

Cheng Nuo nodded innocently, It's conservatively estimated that it will take half a day. In fact, if everything goes well, two hours will be enough.

Mr. Lanney: ...

If he hadn't known the reality of Cheng Nuo in advance, he would have doubted whether he had spent money to invite a liar back.

But out of awe of Cheng Nuo, he still chose to trust Cheng Nuo, Then I'll prepare what you need right away.

A computer, a quiet room, scratch paper and pens, and by the way, bring a single-chip microcomputer.

Cheng Nuo was not polite either.

Soon, everything will be arranged.

Cheng Nuo glanced at the time, it was 9:34, if it was fast, he would still be in time for lunch.

Regarding the improvement of the single-chip microcomputer, Cheng Nuo already had a plan.

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 the Gerachgorin disk theorem in the frequency domain control theory, a dynamic model can be established through the description of the directed graph.

With Cheng Nuo's current level, although it can't be described as easy to solve this kind of problem, it is still not a big problem.

[...If the system λi(G(e^jω) is in the unit circular area λi(G(e^jω)∈{θ:θ∈C, |θ-(c+jd)|\u003c|c+jd|} The necessary and sufficient condition for n, the inner non-circling point (-1, j0) is that for ∨ω∈|-π, π|, c\u003e1/2 is established.]

[For discrete multi-agent system 3, if for ∨i∈I, τ\u003c2(1-Td)/(1-α)π^2Td, then the discrete multi-agent system is asymptotically stable and reaches consistency, then... ...]

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