Modelling a Software Architecture for Robots Control using UML and COMET Architectural Design Method
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URI: http://hdl.handle.net/10317/587Share
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Ortiz Zaragoza, Francisco José; Martínez Sala, Alejandro Santos; Álvarez Torres, María Bárbara; Iborra García, Andrés José; Fernández Meroño, José MaríaResearch Group
División de Sistemas e Ingeniería Electrónica (DSIE)Knowledge Area
Tecnología ElectrónicaPublication date
2002-02Bibliographic Citation
ORTÍZ ZARAGOZA, Francisco José et al. Modelling a Software Architecture for Robots Control using UML and COMET Architectural Design Method. En: Jornadas de Tiempo Real (5ª: 2002: Cartagena).Keywords
Sistema de controlServicio de teleoperadores
Robot de control
Software de arquitectura de robots
Metodología COMET
Arquitectura ACROSET
Abstract
In this paper, a control system in the domain of teleoperated service robots is presented. A reference architecture - ACROSET - has been analyzed and designed following a concurrent object modeling and architectural design
methodology (COMET) that uses UML as describing language. The architecture
of the whole system has been implemented in a ship’s hull blasting robot -
GOYA –using Ada 95 and GLADE. Our previous experience in developing teleoperated service robots using Ada is also presented.
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