EmSBoT: A lightweight modular software framework for networked robotic systems

2016 ◽  
Author(s):  
Long Peng ◽  
Fei Guan ◽  
Luc Perneel ◽  
Hasan Fayyad-Kazan ◽  
Martin Timmerman
Keyword(s):  
Robotic Systems ◽  
Software Framework ◽  
Modular Software

scholarly journals Evolution of the ALICE Software Framework for Run 3

2019 ◽  
Vol 214 ◽  
pp. 05010 ◽  
Author(s):  
Giulio Eulisse ◽  
Piotr Konopka ◽  
Mikolaj Krzewicki ◽  
Matthias Richter ◽  
David Rohr ◽  
...  
Keyword(s):  
Data Processing ◽  
Data Model ◽  
Message Passing ◽  
Software Framework ◽  
Distributed Software ◽  
Central Collisions ◽  
Modular Software ◽  
Level Trigger ◽  
Data Throughput ◽  
High Level

ALICE is one of the four major LHC experiments at CERN. When the accelerator enters the Run 3 data-taking period, starting in 2021, ALICE expects almost 100 times more Pb-Pb central collisions than now, resulting in a large increase of data throughput. In order to cope with this new challenge, the collaboration had to extensively rethink the whole data processing chain, with a tighter integration between Online and Offline computing worlds. Such a system, code-named ALICE O2, is being developed in collaboration with the FAIR experiments at GSI. It is based on the ALFA framework which provides a generalized implementation of the ALICE High Level Trigger approach, designed around distributed software entities coordinating and communicating via message passing. We will highlight our efforts to integrate ALFA within the ALICE O2 environment. We analyze the challenges arising from the different running environments for production and development, and conclude on requirements for a flexible and modular software framework. In particular we will present the ALICE O2 Data Processing Layer which deals with ALICE specific requirements in terms of Data Model. The main goal is to reduce the complexity of development of algorithms and managing a distributed system, and by that leading to a significant simplification for the large majority of the ALICE users.

scholarly journals Prediction of the tool change point in a polishing process using a modular software framework

Procedia CIRP ◽  
2020 ◽  
Vol 88 ◽  
pp. 341-345
Author(s):  
Nicolas Meier ◽  
Jan Papadoudis ◽  
Anthimos Georgiadis
Keyword(s):  
Change Point ◽  
Software Framework ◽  
Polishing Process ◽  
Modular Software

scholarly journals EmSBot

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666366
Author(s):  
Long Peng ◽  
Fei Guan ◽  
Luc Perneel ◽  
Martin Timmerman
Keyword(s):  
Message Passing ◽  
Fault Tolerant ◽  
Software Framework ◽  
Distributed Environment ◽  
Abstraction Layer ◽  
Modular Software ◽  
Small Footprint ◽  
Robotic Applications ◽  
Core Features ◽  
Constrained Devices

Component-based approaches are prevalent in software development for robotic applications due to their reusability and productivity. In this article, we present an Embedded modular Software framework for a networked ro BoTic system (EmSBoT) targeting resource-constrained devices such as microcontroller-based robots. EmSBoT is primarily built upon μCOS-III with real-time support. However, its operating system abstraction layer makes it available for various operating systems. It employs a unified port-based communication mechanism to achieve message passing while hiding the heterogeneous distributed environment from applications, which also endows the framework with fault-tolerant capabilities. We describe the design and core features of the EmSBoT framework in this article. The implementation and experimental evaluation show its availability with small footprint size, effectiveness, and OS independence.

A Modular Software Framework for Heterogeneous Reconfigurable Robots

2012 ◽  
pp. 193-201 ◽  
Author(s):  
Florian Schlachter ◽  
Christopher Schwarzer ◽  
Benjamin Girault ◽  
Paul Levi
Keyword(s):  
Software Framework ◽  
Modular Software ◽  
Reconfigurable Robots

The robot software framework ArmarX

2015 ◽  
Vol 57 (2) ◽  
Author(s):  
Nikolaus Vahrenkamp ◽  
Mirko Wächter ◽  
Manfred Kröhnert ◽  
Kai Welke ◽  
Tamim Asfour
Keyword(s):  
User Interfaces ◽  
Development Process ◽  
Humanoid Robots ◽  
Robotic Systems ◽  
Software Systems ◽  
Software Framework ◽  
Programming Environment ◽  
Robot Architecture ◽  
Pick And Place ◽  
Place Task

AbstractWith ArmarX we introduce a robot programming environment that has been developed in order to ease the realization of higher level capabilities needed by complex robotic systems such as humanoid robots. ArmarX is built upon the idea that consistent disclosure of the system state strongly facilitates the development process of distributed robot applications. We show the applicability of ArmarX by introducing a robot architecture for a humanoid system and discuss essential aspects based on an exemplary pick and place task. With several tools that are provided by the ArmarX framework, such as graphical user interfaces (GUI) or statechart editors, the programmer is enabled to efficiently build and inspect component based robotics software systems.

CorteX: A Software Framework for Interoperable, Plug-and-Play, Distributed, Robotic Systems of Systems

2020 ◽  
pp. 295-344
Author(s):  
Ipek Caliskanelli ◽  
Matthew Goodliffe ◽  
Craig Whiffin ◽  
Michail Xymitoulias ◽  
Edward Whittaker ◽  
...  
Keyword(s):  
Robotic Systems ◽  
Software Framework ◽  
Plug And Play ◽  
Systems Of Systems

scholarly journals A modular software framework for test-beam data analysis. The TbGaudi package

2019 ◽  
Vol 214 ◽  
pp. 05023
Author(s):  
Bartłomiej Rachwał ◽  
Tomasz Szumlak
Keyword(s):  
Data Analysis ◽  
Collection Efficiency ◽  
Charge Collection ◽  
Software Framework ◽  
Test Beam ◽  
Charge Collection Efficiency ◽  
C Programming Language ◽  
Modular Software ◽  
C Programming ◽  
Different Types

For purposes of test beam off-line data analysis a modular software framework has been developed and described in theses proceedings. The TbGaudi package allows to handle the test beam data for a set of runs, as well as the set of different devices under test in one-go, and finally obtain an integrated workflow to present the results. All code is written in C++ programming language. A class based design makes it flexible to add any new features of the device under investigation following a plug-in scheme. Currently, the toolkit handles different types of analysis such as charge collection efficiency, track resolution and eta correction, implemented for non-uniform irradiated sensors. The framework is applied for the LHCb upgrade studies for the VELO and UT groups.

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