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Robot Programming
Published in Marina Indri, Roberto Oboe, Mechatronics and Robotics, 2020
Christian Schlegel, Dennis Stampfer, Alex Lotz, Matthias Lutz
Robot Technology (RT) Middleware [1] is based on the OMG Robot Technology Component (RTC) standard. The interesting part here is that an implementation-independent single description of its structures exists in the form of a standard, which comes with many different implementations. The reference implementation OpenRTM-aist includes an Integrated Development Environment (IDE) based on Eclipse. RT-Middleware was one of the leading modeling initiatives in robotics around a decade ago, with at that time, a significant impact on robotics software development. Compared with recent approaches, RT-Middleware has a rather simplified data flow–like communication model, and the Eclipse-based tooling lacks state-of-the-art modeling techniques for structured system integration and deployment.
Cooperative Robotic Systems in Agriculture
Published in Dan Zhang, Bin Wei, Robotics and Mechatronics for Agriculture, 2017
Due to the complex data processing and background computations performed by the controller, robotic systems should have operating systems which can integrate multiple hardware and software modules. Besides their design complexity, a robotic system should be user-friendly with flexible programming interface and more crucially have a flexible middleware which can be customisable to different situations and applications. A middleware should meet design diversities and also be compatible with multiple sensors and actuators of different designs and manufactures, to process data and execute commands. It should be flexible to handle applications’ development since robots are made of heterogeneous components. They are also required to interact with different communications and processing mechanisms instruments, integration with other systems such as agricultural implements, existing software libraries or algorithms and have the ability to collaborate or share information with other systems. Previously developed middlewares are, Ocra, UPnP, RT-Middleware, ASEBA, Player/Stage, PEIS Kernel, ORiN, MARIE, RSCA, MARIE, Middleware of AWARE, Sensory Data Processing Middleware, Distributed Humanoid Robots Middleware, Layer for Incorporation, WURDE, OROCOS, and ROS which is a recent and widely used framework (Mohamed et al., 2008). ROS also is an open-sourced framework which is compatible with multiprogramming languages and provides standard operating functions such as hardware perception, low-level actuators’ control, coding, and implemented operations, message and command communication between nodes, and packages’ management (Wang et al., 2016).
A method for service robot development based on a design structure matrix
Published in Advanced Robotics, 2022
Naho Saito, Kazuyoshi Wada, Tomohiro Kariya, Noriaki Ando, Koji Kimita
To investigate the effects of the categories from the literature review on designing service robot systems, we conducted a pre-experiment. The pre-experiment was held in a course focusing on software development for robotic systems through practice for graduate students at Tokyo Metropolitan University. In the course, students learned how to analyze system requirements and design functions, and how to use RT-Middleware [13], which is a standard software platform supporting the efficient development of flexible robot systems. Lastly, students developed and presented a robot system for each pre-assigned group. The main objective and goal of the experiment was to improve the categories from the literature review. Therefore, we asked students to analyze their service robot system based on the categories when they conducted requirements analysis, and to develop their systems according to them.
Reusable robot system for display and disposal tasks at convenience stores based on a SysML model and RT Middleware
Published in Advanced Robotics, 2020
Hiroyasu Tsuji, Mayuka Shii, Shogo Yokoyama, Yuki Takamido, Yuji Murase, Soshi Masaki, Kenichi Ohara
Recently, robot system development has become complex as they have become more advanced. In addition, their complexity has led to an increase in the number of steps in software development. Therefore, the demand for middleware platforms, as a solution for reducing the development process, has increased. Many middleware platforms have been proposed for robot system development including OpenRTM-aist, developed by the National Institute of Advanced Industrial Science and Technology (AIST), and the Robot Operating System (ROS) are popular platforms. In these platforms, robot system developers build software modules and integrate them to construct the expected system. By developing these middleware platforms as software modules, it is possible to recombine and verify module units and to eliminate the complexity of system development by enabling distributed system construction. In this paper, we focus on the RT Middleware(RTM) platform.
Special issue on service robot technology – selected papers from WRS 2018
Published in Advanced Robotics, 2020
Hiroyuki Okada, Tetsunari Inamura, Kazuyoshi Wada
This special issue focuses on the service robotics category, which is composed of two challenges: partner robot challenge and future convenience store challenge. The papers written by the organizers and participants of the challenges. Eight papers are collected from the viewpoints of new challenging idea and outstanding system integration for the challenge. The first paper written by Mizuchi et al. treats optimization of a criterion for objective evaluation of HRI performance in partner robot challenge. The latter 7 papers are from future convenience store challenge. The second paper by El Hafi et al. treats the system for augmented human-robot interaction through mixed reality and robot training by non-experts in customer service environments. The third paper by Matsuo et al. treats heavy object carriage robot for in-house logistics based on universal vacuum gripper. The fourth paper by Garcia Ricardez et al. treats adaptive motion generation using imitation learning and highly compliant end effector for autonomous toilet cleaning. The fifth paper by Tanaka et al. treats a portable compact suction pad unit for parallel grippers. The sixth paper by Sakai et al. treats a mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store. The seventh paper by Garcia Ricardez et al. treats restock and straightening system for retail automation using compliant and mobile manipulation. The eighth paper by Tsuji et al. treats reusable robot systems for display and disposal tasks at convenience stores based on a SysML model and RT Middleware.