Reference architecture for robot teleoperation: development details and practical use
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AuthorÁlvarez Torres, María Bárbara; Iborra García, Andrés José; Alonso Muñoz, Alejandro; Puente Alfaro, Juan Antonio de la
Knowledge AreaTecnología Electrónica
SponsorsThis 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).
Bibliographic CitationÁLVAREZ, Bárbara, IBORRA, Andrés, ALONSO, Alejandro, PUENTE, Juan Antonio de la . Reference architecture for robot teleoperation: development details and practical use. Control Engineering Practice, 9 (4): 395-402, 2001. ISSN 0967-0661
KeywordsArquitectura de software
Control de robot
Sistema a tiempo real
Ingeniería de software
Real time system
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).
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