The need to avoid redundant efforts in software development has been recognized
for a long time. Currently, work is focused on the generation of products that are designed to be reused. A reference architecture for robot teleoperation systems has been developed using the domain-engineering process and certain architectural patterns. The architecture has
been applied successfully to the development of different teleoperation platforms used in the maintenance activities of nuclear power plants. In particular, this paper presents how the reference architecture has been implemented in different systems, such as the Remotely Operated Service Arm (ROSA), the Teleoperated and Robotized System for Maintenance Operation in Nuclear Power Plants Vessels (TRON) and the Inspection Retrieving Vehicle (IRV).This work has been partially supported by the
Spanish Government Programmes for Research in
Electrical Power (project PIE-041049), and for Technological Actuation in Industry (PAUTA projects 753/ 95 y 53/96). TRON is supported inside EUREKA– MAINE program (EU1565)
