NDLI: A Middleware Based Control Architecture for Modular Robot Systems

Content Provider	IEEE Xplore Digital Library
Author	Wei Hongxing Li Shiyi Zou Ying Yang Liang Wang Tianmiao
Copyright Year	2008
Description	Author affiliation: Robot. Inst., Beihang Univ., Beijing (Yang Liang) \|\| Robot. Inst. of Beihang Univ., Beijing (Wei Hongxing; Li Shiyi; Zou Ying; Wang Tianmiao)
Abstract	Robot technology has been widely used in industrial production and daily life. Unfortunately, due to the uncertainty of the environment and the diversity of functions, the complexity of the robot software is growing dramatically, in which a lot of repetitive works are done. To solve this problem, the modularization of robots and robot middleware has been proposed. From the perspective of modularization, interoperability, scalability and ease-of-use, this paper proposes a loose-coupled, service-oriented modular robot middleware (MoRoM) architecture. In this architecture, we define the standard interface to encapsulate services each functional component provides, realize system automatic configuration (plug and play), and provide a message notification mechanism as well as program frameworks. To verify the proposed middleware, we implement it using ACE-TAO, which is a real-time CORBA implementation, and test it in a modular robot system. The test shows that this architecture is suitable for improving reusability, interoperability and scalability of robot software.
Starting Page	327
Ending Page	332
File Size	4905734
Page Count	6
File Format	PDF
ISBN	9781424423675
DOI	10.1109/MESA.2008.4735730
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Service robots Scalability Computer architecture Production Control systems Electrical equipment industry Middleware Robotics and automation Plugs
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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