A REFERENCE ARCHITECTURE FOR MANAGING VARIABILITY AMONG TELEOPERATED SERVICE ROBOTS

Francisco Ortiz, Juan Ángel Pastor, Diego Alonso, Fernando Losilla, Esther de Jódar

2005

Abstract

Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. ACROSET provides a common framework for developing this kind of robotized systems and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of robots, teleoperated cranes and vehicles which perform environmentally friendly cleaning of ship-hull surfaces (the EFTCoR project).

References

  1. Barabanov M.. "A Linux-based Real-Time Operating System". Master Thesis, New Mexico Institute of Mining and Technology, Socorro, New Mexico, June 1997.
  2. Bruyninckx, H., Konincks, B. and Soetens, P., “A Software Framework for Advanced Motion Control”, Dpt. of Mechanical Engineering, K.U. Leuven. OROCOS project inside EURON. Belgium. February 2002. Retrieved October 12, 2003 from http://www.orocos.org
  3. Coste-Manière, E. and Simmons, R., “Architecture, the Backbone of Robotic System”, Proc. of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, April 2000.
  4. EFTCoR - Environmental Friendly and Cost-Effective Technology for Coating Removal. V Framework Program GROWTH G3RD-CT-00794. 2002-2005
  5. Gamma E., Helm R., Johnson R., Vlissides J., “Design Patterns: Elements of Reusable Object Oriented Software”, Addison Wesley, Reading Mass. 1995.
  6. Hofmeister, C. Nord, R., Soni, D., “Applied Software Architecture”, Addison-Wesley. ISBN 0-201-32571-3. USA. January 2000.
  7. Iborra, A. Pastor, J.A., Álvarez, B. C. Fernández and Fernández-Meroño J. M., “Robots in Radioactive Environments”, IEEE Robotics and Automation Magazine, vol. 10, no. 4, pp. 12-22, December 2003.
  8. Nesnas, I. et al, “CLARAty: An Architecture for Reusable Robotic Software”, Jet Propulsion Laboratory, NASA, Carnegie Mellon University, March 2003.
  9. Ortiz, F.J. et al “GOYA: A teleoperated system for blasting applied to ships maintenance”. 3rd International Conference on Climbing and Walking Robots. CLAWAR2000. October, 2000.
  10. Scholl, K.U. Albiez, J. and Gassmann, B. “MCA - An Expandable Modular Controller Architecture”, Karlsruhe University, Germany, 2001.
  11. Selic, B. Gullekson G., Ward P.T., “Real-Time ObjectOriented Modeling” (ROOM). John Wiley and Sons, New York. 1994.
  12. SIMATIC - Working with STEP 7 5.2. ref. 6ES'10- 4CA06-8BA0. SIEMENS manuals. 2002.
  13. PC104. Retrieved May 1, 2004, from http://www.pc104.org
Download


Paper Citation


in Harvard Style

Ortiz F., Ángel Pastor J., Alonso D., Losilla F. and de Jódar E. (2005). A REFERENCE ARCHITECTURE FOR MANAGING VARIABILITY AMONG TELEOPERATED SERVICE ROBOTS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 322-328. DOI: 10.5220/0001165103220328


in Bibtex Style

@conference{icinco05,
author={Francisco Ortiz and Juan Ángel Pastor and Diego Alonso and Fernando Losilla and Esther de Jódar},
title={A REFERENCE ARCHITECTURE FOR MANAGING VARIABILITY AMONG TELEOPERATED SERVICE ROBOTS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={322-328},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001165103220328},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A REFERENCE ARCHITECTURE FOR MANAGING VARIABILITY AMONG TELEOPERATED SERVICE ROBOTS
SN - 972-8865-30-9
AU - Ortiz F.
AU - Ángel Pastor J.
AU - Alonso D.
AU - Losilla F.
AU - de Jódar E.
PY - 2005
SP - 322
EP - 328
DO - 10.5220/0001165103220328