CoolBOT: a component-oriented programming framework for robotics

[EN] Programming software for controlling robotic systems in order to built working systems that perform adequately according to their design requirements remains being a task that requires an important development effort. Currently, there are no clear programming paradigms for programming robotic systems, and the programming techniques which are of common use today are not adequate to deal with the complexity associated with these systems. The work presented in this document describes a programming tool, concretely a framework, that must be considered as a first step to devise a tool for dealing with the complexity present in robotics systems. In this framework the software that controls a system is viewed as a dynamic network of units of execution inter-connected by means of data paths. Each one of these units of execution, called a component, is a port automaton which provides a given functionality, hidden behind an external interface specifying clearly which data it needs and which data it produces. Components, once defined and built, may be instantiated, integrated and used as many times as needed in other systems. The framework provides the infrastructure necessary to support this concept for components and the inter communication between them by means of data paths (port connections) which can be established and de-established dynamically. Moreover, and considering that the more robust components that conform a system are, the more robust the system is, the framework provides the necessary infrastructure to control and monitor the components than integrate a system at any given instant of time.

In situ and remote sensing signature of meddies east of the mid-Atlantic ridge

[EN] Mediterranean Water eddies (meddies) are thought to play an important climatic role. Nevertheless, their dynamics are not sufficiently known because of difficulties encountered in their observation. Though propagating below the main thermocline, a number of pieces of evidence of sea surface manifestation of meddies are collected. The present work is based on joint in situ and altimetry data analyses to prove that the meddies can be followed with remote sensing data for long periods of time. The in situ observations are based on data from an oceanographic cruise, which crossed three meddies, and reanalysis of historical data sets, including RAFOS floats paths. Suggested methodology permitted us to obtain uninterrupted tracks for several meddies for a period from several months to more than 2 years. It was found that the dynamically calm region to the north of the Azores current presents favorable conditions for meddy tracking. The meddy surface signal may become shattered and difficult to follow during interaction with a strong dynamic structures (the Azores current/surface vortexes) or peaking topography. Theoretical considerations support the observations and lead to the conclusion that the dynamic signature of meddies at the sea surface is an intrinsic property of meddy dynamics