01-08-2014, 03:01 PM
An RTM based Distributed Simulation System for Guide Robot
[attachment=66470]
Abstract:
In order to enhance the robot system integration and development for guide robot, a distributed simulation
system was developed in this study using RTM (Robot Technology Middleware) technology, which is an open
software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot,
together with other CORBA objects, was developed to connect the graphical programing interface with 3D
simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed
simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed
simulation system based on RTM can obviously accelerate the software component development as well as the
system integration for guide robot, which will certainly lower the cost of the development of new robot application
systems.
INTRODUCTION
Recently, with the development of the Internet and
communication technologies, the quantity of research
and development projects which aim at making robots
and robot systems more intelligent by distributing their
necessary resources over a network, is increasing (Kim
et al., 2004; Quintas et al., 2011; Zhang et al., 2009b).
In the near future, human beings will live in a world
where all objects such as electronic appliances are
networked to each other and robots will provide us with
various services by any device through network as we
need (Kim, 2005). However, as the level of structural
and behavioral complexity increases in robot systems,
the need for technologies supporting the software
module development and the integration of those
systems has expanded (Mohamed et al., 2008). To the
component development, a systematic methodology and
infrastructure for the local and distributed composition
of modular functional components is needed. And for
the distributed simulation system integration, robot
middleware technology enables the development of
robot systems from the traditional close mode to an
open, comprehensive and integrated mode. The
standardization of components and a lot of underlying
service will achieve the rapid development and
maintenance of robot systems.
A distributed simulation system has been
developed by our URPE (Ubiquitous Robotics and
related Programing Environment) project since 2005
(Chen et al., 2009; Qiu et al., 2005). At the same time,
we also developed hardware models, key technologies
and implemented CORBA (Common Object Request
Broker Architecture) based servers for the robot
systems (Zhang et al., 2009a). In this study , in order to
solve the increasing functional component development
and the system integration of guide robot and take full
advantages of the network and computer technologies,
we use the RTM (Robot Technology Middleware)
technology (Ando et al., 2005) to set up several key
modular software components and build a distributed
simulation system for guide robot. The distributed
simulation system can help the developers improve the
efficiency of functional component and application
development.
CONCLUSION
Using RT-Middleware technology, the
development of robotic systems could be divided into
two parts, namely, component development and system
integration. These two parts can be carried out
independently, thus achieving a scientific division of
labor: the component developer can concentrate on
implementing the main logic and the integrator can
concentrate on the design of the whole system without
thinking about the detail of the implementations. We
develop robotic functional elements as RT Components
for the guide robot, which make it easier to create the
distributed robot simulation system by re-using existing
modules and lower the cost of development of new
robot application.
From the application of the distributed simulation
system, we could also see that developing the software
modules into RT Components and using RTM to
integrate them into a robot system can achieve the
reusability and interoperability of the modular
components and make the robot system be network
distributed easily. In the meanwhile, the distributed
simulation system could be transferred and applied to
the real robot system easily and quickly. So it can
greatly improve development efficiency and adapt to
rapid changes in demand.
[attachment=66470]
Abstract:
In order to enhance the robot system integration and development for guide robot, a distributed simulation
system was developed in this study using RTM (Robot Technology Middleware) technology, which is an open
software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot,
together with other CORBA objects, was developed to connect the graphical programing interface with 3D
simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed
simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed
simulation system based on RTM can obviously accelerate the software component development as well as the
system integration for guide robot, which will certainly lower the cost of the development of new robot application
systems.
INTRODUCTION
Recently, with the development of the Internet and
communication technologies, the quantity of research
and development projects which aim at making robots
and robot systems more intelligent by distributing their
necessary resources over a network, is increasing (Kim
et al., 2004; Quintas et al., 2011; Zhang et al., 2009b).
In the near future, human beings will live in a world
where all objects such as electronic appliances are
networked to each other and robots will provide us with
various services by any device through network as we
need (Kim, 2005). However, as the level of structural
and behavioral complexity increases in robot systems,
the need for technologies supporting the software
module development and the integration of those
systems has expanded (Mohamed et al., 2008). To the
component development, a systematic methodology and
infrastructure for the local and distributed composition
of modular functional components is needed. And for
the distributed simulation system integration, robot
middleware technology enables the development of
robot systems from the traditional close mode to an
open, comprehensive and integrated mode. The
standardization of components and a lot of underlying
service will achieve the rapid development and
maintenance of robot systems.
A distributed simulation system has been
developed by our URPE (Ubiquitous Robotics and
related Programing Environment) project since 2005
(Chen et al., 2009; Qiu et al., 2005). At the same time,
we also developed hardware models, key technologies
and implemented CORBA (Common Object Request
Broker Architecture) based servers for the robot
systems (Zhang et al., 2009a). In this study , in order to
solve the increasing functional component development
and the system integration of guide robot and take full
advantages of the network and computer technologies,
we use the RTM (Robot Technology Middleware)
technology (Ando et al., 2005) to set up several key
modular software components and build a distributed
simulation system for guide robot. The distributed
simulation system can help the developers improve the
efficiency of functional component and application
development.
CONCLUSION
Using RT-Middleware technology, the
development of robotic systems could be divided into
two parts, namely, component development and system
integration. These two parts can be carried out
independently, thus achieving a scientific division of
labor: the component developer can concentrate on
implementing the main logic and the integrator can
concentrate on the design of the whole system without
thinking about the detail of the implementations. We
develop robotic functional elements as RT Components
for the guide robot, which make it easier to create the
distributed robot simulation system by re-using existing
modules and lower the cost of development of new
robot application.
From the application of the distributed simulation
system, we could also see that developing the software
modules into RT Components and using RTM to
integrate them into a robot system can achieve the
reusability and interoperability of the modular
components and make the robot system be network
distributed easily. In the meanwhile, the distributed
simulation system could be transferred and applied to
the real robot system easily and quickly. So it can
greatly improve development efficiency and adapt to
rapid changes in demand.