Tham khảo tài liệu 'mobile robots current trends part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development of Mobile Robot Based on I2C Bus System 199 Fig. 12. Mobile robot system developed by Shibaura institute of technology It is necessary to use graphical and interactive interface to operate the robot because the operator of this robot is physically handicapped and not always engineer and professional about the robot knowledge as shown in . Op erator c onsole Fig. 13. System structure of mobile robot Communication framework for sensor-actuator data in mobile robots Fernandez proposes the architecture of the robot is designed in which shows several modules inter-connected with CAN bus Fernandez J. et al. 2007 . Each module performs one specific task in the distributed architecture. The actuator and the sensory modules are executed with basic control algorithms. 200 Mobile Robots - Current Trends The communications protocol and CAN master process are implemented in figure 14 showing the different slaves are connected to the master. Control system for all modules worked on PC attached to CAN bus using a CAN-USB adapter. Fig. 14. Robot architecture of CAN system based on sensor and actuator and PC control module communications. The connection and disconnection of the different slaves by loading the corresponding driver is operated by CAN server. The CAN server will first register and initialize the new module connection for example if a module with sonar sensors is connected then it will be identified and the module will hand over the messages to the sonar module. In the case of connecting a new module the master will send information to configure the slave and change the watchdog time. If the master does not receive the watchdog of a slave for a period longer that a timeout it assumes the slave is disconnected or has some error and it will be notified to the control programs interested in the slave data. SMARbot A miniature mobile robot paradigm for ubiquitous computing Yan Meng from Stevens Institute of Technology Hoboken introduce .