An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK). Qian, L., Chen, Z., & Kazanzides, P. In 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015. IEEE. abstract bibtex In this paper, a real-time control network based on Ethernet and FireWire is presented, where Ethernet provides a convenient, cross-platform interface between a central control PC and a FireWire subnetwork that contains multiple distributed nodes (I/O boards). Real-time performance is achieved because this architecture limits the number of Ethernet transactions on the host PC, benefits from the availability of real-time Ethernet drivers, and uses the broadcast and peer-to-peer capabilities of FireWire to efficiently transfer data among the distributed nodes. This approach and resulting benefits are comparable to EtherCAT, but preserves existing investments in FireWire-based controllers and relies only on conventional, vendor-neutral network hardware and protocols. The system performance is demonstrated on the da Vinci Research Kit (dVRK), which consists of 8 FireWire nodes that control 2 Master Tool Manipulators (MTMs) and 2 Patient Side Manipulators (PSMs), for a total of 28 axes. This approach is generally applicable to interface existing FireWire-based systems to new control PCs via Ethernet or to serve as an open-source alternative to EtherCAT for new designs.
@inproceedings{Qian2015,
author = {Qian, Long and Chen, Zihan and Kazanzides, Peter},
title = {An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK)},
booktitle = {2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)},
year = {2015},
publisher = {IEEE},
semanticscholar = {https://www.semanticscholar.org/paper/ea13cc8fc5198fec59645f2d729036f9e8707f1e},
research_field = {},
data_type = {},
dvrk_site = {JHU},
isbn = {1467379298},
abstract = {In this paper, a real-time control network based on Ethernet and FireWire is presented, where Ethernet provides a convenient, cross-platform interface between a central control PC and a FireWire subnetwork that contains multiple distributed nodes (I/O boards). Real-time performance is achieved because this architecture limits the number of Ethernet transactions on the host PC, benefits from the availability of real-time Ethernet drivers, and uses the broadcast and peer-to-peer capabilities of FireWire to efficiently transfer data among the distributed nodes. This approach and resulting benefits are comparable to EtherCAT, but preserves existing investments in FireWire-based controllers and relies only on conventional, vendor-neutral network hardware and protocols. The system performance is demonstrated on the da Vinci Research Kit (dVRK), which consists of 8 FireWire nodes that control 2 Master Tool Manipulators (MTMs) and 2 Patient Side Manipulators (PSMs), for a total of 28 axes. This approach is generally applicable to interface existing FireWire-based systems to new control PCs via Ethernet or to serve as an open-source alternative to EtherCAT for new designs.},
}
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