An Architectural Framework for Modeling Teleoperated service robots

Teleoperated robots are used to perform tasks that human operators cannot carry out because of the nature of the tasks themselves or the hostile nature of the working environment. Though many control architectures have been defined for developing these kinds of systems reusing common components, none has attained all its objectives because of the high variability of system behaviors. This paper presents a new architectural approach that takes into account the latest advances in robotic architectures while adopting a component-oriented approach. This approach provides a common framework for developing robotized systems with very different behaviors and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of teleoperated robots which perform cleaning of ship-hull surfaces.Este trabajo está parcialmente financiado por CICYT ref. TIC2003-07804-C05-02 y la Comunidad Autónoma de Murcia (Séneca PB/5/FS/02

Experiences using a componet-oriented architectural framework for robots and its imporvement with a MDE approach

This paper describes the experience of the DSIE research group in the developing of the EFTCoR family of robots using an abstract architectural framework ACRoSeT, following the component-based paradigm. Using abstract components allow us to define very different architectures in a platform independent way. The translation of the abstract components to platform specific code is a hard and difficult task that can be partially automated with the help of the model transformation tools provided by the MDE approach

StateML + : From Graphical State Machine Models to Thread-Safe Ada Code

This paper presents the StateML+ tool aimed at designing state-machines and automatically generating thread-safe and multi-tasking modular Ada code from them, following a Model-Driven Engineering approach. The StateML+ meta-model is an extension of a previous version, and now it offers improved modeling capabilities, which include regions and macro-state definition. In this paper, a case study regarding the design of a robotic system will be used to demonstrate the benefits of the proposed approach.This research has been funded by the Spanish CICYT project MEDWSA (TIN2006-15175-C05-02) and the Regional Government of Murcia Seneca Program (02998-PI-05)