TORP: An open standard framework for humanoid robots

Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks that can allow distributed development with also some degree of hardware abstraction, allowing software reuse in successive projects. However, computation represents only one of the dimensions in robotics tasks, and the need for reuse and exchange of full robot modules between groups are growing. Large advances could be reached if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a new robot framework, from now on called TORP (The Open Robot Project), that aims to provide a standard architecture in all dimensions (electrical, mechanical and computational) for this collaborative development. This methodology also represents an open project that is fully shared. In this paper, the first robot constructed following the TORP specification set is presented as well as the advances proposed for its improvement. © 2010 IEEE.

A contribuição de modelos utilizando uma abordagem modelo - código

In a world that is increasingly working with software, the need arises for effective approaches that encourage software reuse. The reuse practice must be aligned to a set of practices, procedures and methodologies that create a stable and high quality product. These questions produce new styles and approaches in the software engineering. In this way, this thesis aims to address concepts related to development and model-driven architecture. The model-driven approach provides significant aspects of the automated development, which helps it with produced models built in the specification phase. The definition of terms such as model, architecture and platform makes the focus becomes clearer, because for MDA and MDD is important to split between technical and business issues. Important processes are covered, so you can highlight the artifacts that are built into each stage of model-driven development. The stages of development: CSM, PIM, PSM and ISM, detailing the purpose of each phase in oriented models, making the end of each stage are gradually produced artifacts that may be specialized. The models are handled by different prospects for modeling, abstracting the concepts and building a set of details that portrays a specific scenario. This retraction can be a graphical or textual representation, however, in most cases is chosen a language modeling, for example, UML. In order to provide a practical view, this dissertation shows some tools that improve the construction of models and the code generate that assists in the development, keeping the documentation systemic. Finally, the paper presents a case study that refers to the theoretical aspects discussed throughout the dissertation, therefore it is expected that the architecture and the model-driven development may be able to explain important features to consider in software engineering

TAO - A software platform for autonomous mobile robots

To date, different techniques of navigation for mobile robots have been developed. However, the experimentation of these techniques is not a trivial task because usually it is not possible to reuse the developed control software due to system incompabilities. This paper proposes a software platform that provides means for creating reusable software modules through the standardization of software interfaces, which represent the various robot modules. © 2012 ICROS.

A Reference Architecture based on Reflection for Self-adaptive Software

Self-adaptive Software (SaS) presents specific characteristics compared to traditional ones, as it makes possible adaptations to be incorporated at runtime. These adaptations, when manually performed, normally become an onerous, error-prone activity. In this scenario, automated approaches have been proposed to support such adaptations; however, the development of SaS is not a trivial task. In parallel, reference architectures are reusable artifacts that aggregate the knowledge of architectures of software systems in specific domains. They have facilitated the development, standardization, and evolution of systems of those domains. In spite of their relevance, in the SaS domain, reference architectures that could support a more systematic development of SaS are not found yet. Considering this context, the main contribution of this paper is to present a reference architecture based on reflection for SaS, named RA4SaS (Reference Architecture for SaS). Its main purpose is to support the development of SaS that presents adaptations at runtime. To show the viability of this reference architecture, a case study is presented. As result, it has been observed that RA4SaS has presented good perspective to efficiently contribute to the area of SaS.