A Development of Software Component Framework for Robotic Services

Jang, Choulsoo; Song, Byoungyoul; Jung, Seungwoog; Kim, Sung Hoon; Choi, Byeong-Cheol; Lee, Hyo-Young; Lee, Cheol-Hoon

doi:10.1109/iccit.2009.161

Cited by 6 publications

(3 citation statements)

References 1 publication

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“…There are several other robotics software platforms available such as Miro [5], RT-Middleware (RTM) [6] SmartSoft [7], Orca( [8], [9]), OPRoS ( [10], [11]), (UPnP) architecture [12], and Microsoft Robotic Studio [13] A survey of robot development environments (RDEs) by Kramer and Scheutz [14] described nine open source, freely available RDEs for mobile robots. The RDEs were evaluated and compared from various points of view, suggestions were made on how to use the results of the survey.…”

Section: Related Workmentioning

confidence: 99%

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

Elkady

Joy

Sobh

2011

Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts a and B

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We are developing a framework (RISCWare) for the modular design and integration of sensory modules, actuation platforms, and task descriptions that will be implemented as a tool to reduce efforts in designing and utilizing robotic platforms. The framework is used to customize robotic platforms by simply defining the available sensing devices, actuation platforms, and required tasks. The main purpose for designing this framework is to reduce the time and complexity of the development of robotic software and maintenance costs, and to improve code and component reusability. Usage of the proposed framework prevents the need to redesign or rewrite algorithms or applications due to changes in the robot's platform, operating systems, or the introduction of new functionalities.In this paper, the RISCWare framework is developed and described. RISCWare is a robotic middleware used for the integration of heterogeneous robotic components. RISCWare consists of three modules. The first module is the sensory module, which represents sensors that collect information about the remote or local environment. The platform module defines the robotic platforms and actuation methods. The last module is the task-description module, which defines the tasks and applications that the platforms will perform such as teleoperation, navigation, obstacle avoidance, manipulation, 3-D reconstruction, and map building.The plug-and-play approach is one of the key features of RISCWare, which allows auto-detection and auto-reconfiguration of the attached standardized components (hardware and software) according to current system configurations. These components can be dynamically available or unavailable. Dynamic reconfiguration provides the facility to modify a system during its execution and can be used to apply patches and updates, to implement adaptive systems, or to support third-party modules. This automatic detection and reconfiguration of devices and driver software makes it easier and more efficient for end users to add and use new devices and software applications. In addition, the software components should be written in a flexible way to get better usage of the hardware resource and also they should be easy to install/uninstall. Several experiments, performed on the RISCbot II mobile manipulation platform, are described and implemented to evaluate the RISCWare framework with respect to applicability and resource utilization. of devices make it efficient and seamless for the end users to add and use the new devices and software applications. Finally, some experiments, performed on the RISCbot II mobile manipulator, are described to evaluate the RISCWare middleware.

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Section: Related Workmentioning

confidence: 99%

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

Elkady

Joy

Sobh

2011

Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts a and B

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“…To tackle this problem, proprietary APIs are wrapped with a common robot interface set (CRIS). Hence, the components accessing the robot's devices use CRIS to control hardware devices [26]. Figure 8 shows that the OPRoS components provide exactly the same services in different robots without any additional effort if they use the CRIS APIs.…”

Section: A Common Reusable Componentsmentioning

confidence: 99%

OPRoS: A New Component-Based Robot Software Platform

Jang

Lee

Jung

et al. 2010

ETRI J

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A component is a reusable and replaceable software module accessed through its interface. Component‐based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component's communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.

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“…Marie (Mobile and Autonomous Robotics Integration Environment) [38][39][40][41] was developed by the Mobile Robotics and Intelligent Systems Laboratory, University of Sherbrooke, Canada. Orca [42][43][44], and OPRoS (Open Platform for Robotic Services) [45][46][47], designed by the IT R&D program of the Ministry of Knowledge Economy of Korea, are component-based software frameworks. The ERSP Software Development Kit [48] provides technologies for vision, navigation, and system development.…”

Section: Robot Softwarementioning

confidence: 99%

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Elkady

Sobh

2012

Journal of Robotics

171

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Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.

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A Development of Software Component Framework for Robotic Services

Cited by 6 publications

References 1 publication

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms

OPRoS: A New Component-Based Robot Software Platform

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

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