A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle

Ortiz, Francisco; Alonso, Diego; Álvarez, Bárbara; Pastor, Javier

doi:10.1007/11499909_2

Cited by 13 publications

(12 citation statements)

References 8 publications

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“…These structures of state machines are common in reactive systems, where the leaf components represent single devices (actuators) which are managed by supervisor controllers in a hierarchy: the top levels of the hierarchy may manage complete processes whilst the lower levels are responsible for steps within a process [25].…”

Section: Data-based Slicingmentioning

confidence: 99%

Slicing Techniques for UML Models.

Lano¹,

Kolahdouz-Rahimi²

2011

JOT

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This paper defines techniques for the slicing of UML models, that is, for the restriction of models to those parts which specify the properties and behaviour of a subset of the elements within them. The purpose of this restriction is to produce a smaller model which permits more effective analysis and comprehension than the complete model, and also to form a step in factoring of a model. We consider class diagrams, single state machines, and communicating sets of state machines.

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Section: Data-based Slicingmentioning

confidence: 99%

Slicing Techniques for UML Models.

Lano¹,

Kolahdouz-Rahimi²

2011

JOT

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“…The EFTCoR system uses a Layered Style; specifically, we used ACROSET [13], which is a Domain Specific Software Architecture (DSSA) that specializes the Layered Style identifying three kinds of subsystems (SUC, MUC, and RUC). These styles specify some constraints in terms of compositionality, by establishing that one layer only requires the services provided by the lower layer.…”

Section: Using M2m Transformations For Architectural Stylesmentioning

confidence: 99%

Using Model Transformation Techniques for the Superimposition of Architectural Styles

Navarro

Cuesta

Perry

et al. 2011

Software Architecture

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Abstract. Software Architecture is a key artifact in the software development process, as it provides a bridge between the requirements of the system-to-be and its final design. Architectural description is therefore a critical step, which can be assisted by the use of Architectural Styles. Styles make it possible to reuse architectural knowledge by providing guidelines for its description, and by constraining the configuration and behavior of the target system. The architect must superimpose these constraints, but this could be an error-prone task unless some kind of automatic support is provided. Therefore, this paper presents a proposal that generates proto-architectures by superimposing architectural styles on the initial requirements' operationalization, using model-to-model (M2M) transformation techniques. Our proposal includes a tool called MORPHEUS, which applies QVT as the transformation language; a real-world example is provided to explain how the superimposition process works, and how the QVT language is used to express these style-based transformations.

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“…However, on the down side, this system is very cumbersome and costly to run, and its operation, like in the case of Ultrastrip, requires human operators to remotely control the system. This same group proposed another robot [20] based on magnetic treads. Recently, [21] have developed a robot for grit blasting the inside of double hulls.…”

Section: Introductionmentioning

confidence: 99%

A Robot for the Unsupervised Grit-Blasting of Ship Hulls

Souto

Faina

Deibe

et al. 2012

International Journal of Advanced Robotic Systems

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This paper describes the design and the control architecture of an unsupervised robot developed for grit blasting ship hulls in shipyards. Grit blasting is a very common and environmentally unfriendly operation, required for preparing metallic surfaces for painting operations. It also implies very unhealthy and hazardous working conditions for the operators that must carry it out. The robot presented here has been designed to reduce the environmental impact of these operations and completely eliminate the health associated risks for the operators. It is based on a double frame main body with magnetic legs that are able to avoid the accumulation of ferromagnetic dust during its operation. The control system presents a layered structure with four layers that are physically distributed into two separate components in order to facilitate different operational modes as well as to increase the safety requirements of the system. A low-level control component has been implemented on the robotic unit itself, and a mission planning and control component has been developed on a base station that is also used for interaction with the operator, when the monitoring of the robot's operation is required. This base station component contains three layers of the control system that permit the manual, semiautonomous and autonomous operation of the whole system. A prototype of the robot has been implemented and tested in realistic environments, ascertaining that the design and the control system are perfectly suited to the functions which the robot must carry out.

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A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle

Cited by 13 publications

References 8 publications

Slicing Techniques for UML Models.

Slicing Techniques for UML Models.

Using Model Transformation Techniques for the Superimposition of Architectural Styles

A Robot for the Unsupervised Grit-Blasting of Ship Hulls

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