Abstract
Recent robotics studies are investigating how robots can exploit the World Wide Web in order to offer their functionality and retrieve information that is useful for completing their tasks. This new trend requires the ability of integrating robotics and information systems technology. On the first side a set of robotics component based frameworks, which are typically data flow oriented, have been developed throughout the last years and Orocos is one of the most mature. On the other side the state of the art is represented by the Service Oriented Architecture, where the Service Component Architecture defines a component-based implementation of this approach.
The paper reports the progress of our work, which aims to promote in the robotics field a cooperation between Service Oriented Architecture and Data Flow Oriented Architecture. To achieve this we propose an integration between SCA and Orocos. We first highlight a set of architectural mismatches that have to be faced for allowing this integration and then we introduce a java-based library, called JOrocos, that represents our solution to these mismatches. Finally we describe a case study in which SCA and Orocos components cooperate for monitoring the status of a robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
BRICS - Best of Robotics, http://www.best-of-robotics.org/
Brugali, D., Gherardi, L., Riccobene, E., Scandurra, P.: A formal framework for coordinated simulation of heterogeneous service-oriented applications. In: 8th International Symposium on Formal Aspects of Component Software, FACS (2011)
Brugali, D., Salvaneschi, P.: Stable aspects in robot software development. International Journal on Advanced Robotic Systems 3(1), 17–22 (2006)
Brugali, D., Scandurra, P.: Component-based robotic engineering, part I: Reusable building block. IEEE Robotics & Automation Magazine 16, 84–96 (2009)
van de Molengraft, R., Beetz, M., Fukuda, T.: A special issue toward a www for robots. IEEE Robotics Automation Magazine 18(2), 20 (2011)
Eugster, P., Felber, P., Guerraoui, R., Kermarrec, A.: The many faces of publish/subscribe. ACM Computing Surveys (CSUR) 35(2), 114–131 (2003)
Gamma, E.: Design patterns: elements of reusable object-oriented software. Addison-Wesley Professional (1995)
Marks, E., Bell, M.: Service-Oriented Architecture (SOA): A planning and implementation guide for business and technology. John Wiley & Sons (2006)
KUKA youBot store, http://youbot-store.com/
Mozos, O., Marton, Z.-C., Beetz, M.: Furniture models learned from the www. IEEE Robotics Automation Magazine 18(2), 22–32 (2011)
Open Robot Control Software, http://www.orocos.org
Service Component Architecture (SCA), http://www.osoa.org
SCA Specifications - SCA Assembly Model, http://www.osoa.org/display/Main/The+Assembly+Model
Scandurra, P., Riccobene, E.: A modeling and executable language for designing and prototyping service-oriented applications. In: EUROMICRO Conference on Software Engineering and Advanced Applications, SEAA 2011 (2011)
Tenorth, M., Klank, U., Pangercic, D., Beetz, M.: Web-enabled robots. IEEE Robotics Automation Magazine 18(2), 58–68 (2011)
Yoshimi, T., Matsuhira, N., Suzuki, K., Yamamoto, D., Ozaki, F., Hirokawa, J., Ogawa, H.: Development of a concept model of a robotic information home appliance, aprialpha. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 1, pp. 205–211 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Brugali, D., Gherardi, L., Klotzbücher, M., Bruyninckx, H. (2012). Service Component Architectures in Robotics: The SCA-Orocos Integration. In: Hähnle, R., Knoop, J., Margaria, T., Schreiner, D., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification, and Validation. ISoLA 2011. Communications in Computer and Information Science, vol 336. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34781-8_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-34781-8_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34780-1
Online ISBN: 978-3-642-34781-8
eBook Packages: Computer ScienceComputer Science (R0)