Skip to main content
Springer Nature Link
Log in

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

  • Conference paper
Reliable Software Technology – Ada-Europe 2005 (Ada-Europe 2005)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 3555))

Included in the following conference series:

  • 335 Accesses

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. The architecture is currently being used, tested and improved in the development of an heterogeneous family of robots in the context of the EFTCoR project. It is also presented the Ada’95 implementation of ACROSET for a climbing robot.

This work has been partially supported by European Union (GROWTH G3RD-CT-00794) and the Spanish Government programs CICYT (TIC2003-07804-C05-02) and Seneca (PB/5/FS/02).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Coste-Manière, E., Simmons, R.: Architecture: the Backbone of Robotics Systems. In: Proc. of the 2000 IEEE International Conference on Robotics & Automation, April 2000, pp. 67–72 (2000) ISBN: 0780358864

    Google Scholar 

  2. Nesnas, I., Wright, A., Bajracharya, M., Simmons, R., Estlin, T., Kim, W.S.: CLARAty: An Architecture for Reusable Robotic System, Jet Propulsion Laboratory, NASA (March 2003)

    Google Scholar 

  3. Scholl, K.U., Albiez, J., Gassmann, B.: MCA – An Expandable Modular Controller Architecture. In: 4th Real-Time Linux Workshop (2001)

    Google Scholar 

  4. Bruyninckx, H., Konincks, B., Soetens, P.: A Software Framework for Advanced Motion Control. Draft version (January 2002)

    Google Scholar 

  5. Fernández, C., Iborra, A., Álvarez, B., Pastor, J.A., Sánchez, P., Fernández-Meroño, J.M., Ortega, N.: Co-operative Robots for Hull Blasting in European Shiprepair Industry. IEEE Robotics & Automation Magazine (Special Issue on Industrial Robotics Applications & Industry-Academia Cooperation in Europe - New Tendencies and Perspectives) (November 2004) ISSN: 1070-9932

    Google Scholar 

  6. EFTCoR Official Site, http://www.eftcor.com/

  7. Barbanov, M.: A Linux-based Real-Time Operating System. PhD thesis, New Mexico Institute of Mining and Technology (June 1997)

    Google Scholar 

  8. Masmano, M., Real, J., Ripoll, E., Crespo, A.: Running ada on real-time linux. In: Rosen, J.-P., Strohmeier, A. (eds.) Ada-Europe 2003. LNCS, vol. 2655, pp. 322–333. Springer, Heidelberg (2003)

    Chapter  Google Scholar 

  9. Pastor Franco, J.A.: Evaluación y desarrollo incremental de una arquitectura software de referencia para sistemas de teleoperación utilizando métodos formales. PhD thesis, Technical University of Cartagena, Spain (2002)

    Google Scholar 

  10. Ortiz, F., Iborra, A., Marín, F., Álvarez, B., Fernández-Meroño, J.M.: GOYA: A teleoperated system for blasting applied to ships maintenance. In: 3rd International Conference on Climbing and Walking Robots (October 2000) ISBN: 1-86058-268-0

    Google Scholar 

  11. Iborra, A., Pastor, J.A., Álvarez, B., Fernández, C., Fernández-Meroño, J.M.: Robots in Radioactive Environments. IEEE Robotics and Automation Magazine 10(4), 12–22 (2003) ISSN: 1070-9932

    Article  Google Scholar 

  12. Hofmeister, C., Nord, R., Soni, D.: Applied Software Architecture. Addison-Wesley, Reading (2000) ISBN: 0-201-32571-3

    Google Scholar 

  13. Selic, B., Gullekson, G., Ward, P.T.: Real-Time Object-Oriented Modelling (ROOM). John Wiley and Sons, Chichester (1994) ISBN: 0471599174

    Google Scholar 

  14. Gomaa, H.: Designing Concurrent, Distributed, and Real-Time Applications with UML. Object Technology. Addison-Wesley, Reading (2000) ISBN: 0-201-65793-7

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Universidad Politécnica de Cartagena, Spain

    Francisco Ortiz, Diego Alonso, Bárbara Álvarez & Juan A. Pastor

Authors
  1. Francisco Ortiz
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Diego Alonso
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Bárbara Álvarez
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Juan A. Pastor
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Pure and Applied Mathematics, University of Padua, via Trieste 63, 35121, Padua, Italy

    Tullio Vardanega

  2. Real-Time Systems Research Group, Department of Computer Science, University of York, UK

    Andy Wellings

Rights and permissions

Reprints and permissions

Copyright information

© 2005 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Ortiz, F., Alonso, D., Álvarez, B., Pastor, J.A. (2005). A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle. In: Vardanega, T., Wellings, A. (eds) Reliable Software Technology – Ada-Europe 2005. Ada-Europe 2005. Lecture Notes in Computer Science, vol 3555. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11499909_2

Download citation

  • DOI: https://doi.org/10.1007/11499909_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26286-2

  • Online ISBN: 978-3-540-31666-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics