Modular Design: A Plug and Play Approach to Sensory Modules, Actuation Platforms, and Task Descriptions for Robotics and Automation Applications

摘要

In this paper, the RISCWare frame-work is proposed as a robotic middleware for the modular design of sensory modules, actuation platforms, and task descriptions. This frame-work will be used to customize robotic platforms by simply defining the available sensing devices, actuation platforms and required tasks. In addition, this framework will significantly increase the capability of robotic industries in the analysis, design, and development of autonomous mobile platforms. RISCWare is comprised of three modules. The first module encapsulates the sensors, which gather information about the remote or local environment. The second module defines the platforms, manipulators, and actuation methods. The last module describes the tasks that the robotic platforms will perform such as teleoperation, navigation, obstacle avoidance, manipulation, 3-D reconstruction, and map building. The objective is to design a middleware framework to allow a user to plug in new sensors, tasks or actuation hardware, resulting in a fully functional operational system. Furthermore, the user is able to install and uninstall hardware/software components through system lifetime with ease and modularity. In addition, when hardware devices are plugged into the framework, they are automatically detected by the middleware layer, which loads the appropriate software and avails the device for applications usage. This automatic detection and configuration of devices make it efficient and seamless for end users to add and use new devices and software applications. Several experiments, performed on the RISCbot II mobile robot, are implemented to evaluate the RISCWare framework with respect to applicability and resource utilization.