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System architectures basics

Modified 2018-06-22 by Andrea Censi

Andrea Censi

Physical and logical architectures.

Deployment as mapping a physical architecture onto the logical.

Basic graph concepts.

Basic operating systems concepts.

Logical and physical architecture

Modified 2018-06-22 by Andrea Censi

When we design a robotic system, or any cyber-physical system, we distinguish between what we shall call “logical architecture” and the “physical architecture”.

The logical architecture describes how the functionality is divided in abstract modules, and what these modules communicate.

The physical architecture describes how the modules are instantiated. For example, this includes the information of how many processors are used, and which processor runs which routine.

Logical architecture

Modified 2018-06-22 by Andrea Censi

The logical architecture is independent of the implementation (the hardware, the language.)

The logical architecture describes:

  • The system decomposition in components
  • The data flow: who tells whom what
  • How knows what: other sources of information, such as priors.
  • How information is represented

A logical architecture would also describe what are the representations used. This is explored more fully in the unit about representations.

Physical architecture

Modified 2018-06-22 by Andrea Censi

TODO: Processors

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TODO: Processors

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md.

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TODO: Buses / networks

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TODO: Buses / networks

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File book/learning_materials/21_systems/35_system_architectures/system_architectures.md
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TODO: Middleware

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TODO: Middleware

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md.

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md
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TODO: Orchestrators

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TODO: Orchestrators

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md.

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md
in repo duckietown/docs-learning_materials branch master commit ab91feef
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TODO: In ROS that is the roscore program.

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The following was marked as "todo".

TODO: In ROS that is the roscore program.

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md.

File book/learning_materials/21_systems/35_system_architectures/system_architectures.md
in repo duckietown/docs-learning_materials branch master commit ab91feef
last modified by Andrea Censi on 2018-06-22 20:06:11

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

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