Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework

2018 ◽  
Author(s):  
Giuseppe Rigano ◽  
Luca Muratore ◽  
Arturo Laurenzi ◽  
Enrico Mingo Hoffman ◽  
Nikos Tsagarakis
Keyword(s):  
Software Framework ◽  
Abstraction Layer ◽  
Hardware Abstraction Layer

Design of Vehicle Terminal Based on Android System

2014 ◽  
Vol 998-999 ◽  
pp. 1125-1128
Author(s):  
Li Wang ◽  
Zhe Yuan Liu
Keyword(s):  
Can Bus ◽  
Driving Safety ◽  
Vehicle Body ◽  
Software Framework ◽  
Application Software ◽  
Driving Experience ◽  
Abstraction Layer ◽  
Bus Driver ◽  
Hardware Abstraction Layer ◽  
Vehicle Terminal

CAN-bus is one of the most widely used vehicular buses, so the CAN-bus driver program was programmed to the vehicle terminal based on Android operating system in this paper. The programmed CAN-bus driver program included application software framework of car terminal, implementation of CAN-bus driver module, and call of Android hardware abstraction layer (HAL), etc. The research makes the vehicle terminal connect with the vehicle body network tightly, optimize the driving experience and the driving safety.

A mixed real-time robot hardware abstraction layer (R-HAL)

2019 ◽  
pp. 153-159
Author(s):  
Giuseppe F. Rigano ◽  
Luca Muratore ◽  
Arturo Laurenzi ◽  
Enrico M. Hoffman ◽  
Nikos G. Tsagarakis
Keyword(s):  
Real Time ◽  
Abstraction Layer ◽  
Hardware Abstraction Layer

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.

Hardware Abstraction Layer

2009 ◽  
pp. 67-94 ◽  
Author(s):  
Katalin Popovici ◽  
Ahmed Jerraya
Keyword(s):  
Abstraction Layer ◽  
Hardware Abstraction Layer

A mixed real-time robot hardware abstraction layer (R-HAL)

2018 ◽  
Vol 02 (01) ◽  
pp. 1850010 ◽  
Author(s):  
Giuseppe F. Rigano ◽  
Luca Muratore ◽  
Arturo Laurenzi ◽  
Enrico M. Hoffman ◽  
Nikos G. Tsagarakis
Keyword(s):  
Upper Body ◽  
Control Software ◽  
Software Developers ◽  
Know How ◽  
Abstraction Layer ◽  
Wide Range ◽  
Application Programming ◽  
Hardware Abstraction Layer ◽  
Robotic Platforms ◽  
And Control

The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.

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