INITIAL DEVELOPMENT OF HABLA (HARDWARE ABSTRACTION LAYER) - A Middleware Software Tool

Andrés Faíña, Francisco Bellas, Richard J. Duro

Abstract

In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). This tool isolates the control architecture of an autonomous computational system, like a robot, from its particular hardware implementation. It is provided with a set of general sensors and typical sensorial processing mechanisms of this kind of autonomous systems allowing for its application to different commercial platforms. This way, the HABLA permits the control designer to focus its work on higher-level tasks minimizing the time spent on the adaptation of the control architecture to different hardware configurations. Another important feature of the HABLA is that both hardware-HABLA and HABLA-control communications take place through standard TCP sockets, permitting the distribution of the computational cost over different computers. In addition, it has been developed in JAVA, so it is platform independent. After presenting the general HABLA diagram and operation structure, we consider a real application using the same deliberative control architecture on two different autonomous robots: an Aibo legged robot and a Pioneer 2Dx wheeled robot.

References

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Paper Citation


in Harvard Style

Faíña A., Bellas F. and J. Duro R. (2007). INITIAL DEVELOPMENT OF HABLA (HARDWARE ABSTRACTION LAYER) - A Middleware Software Tool . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 53-58. DOI: 10.5220/0001627800530058


in Bibtex Style

@conference{icinco07,
author={Andrés Faíña and Francisco Bellas and Richard J. Duro},
title={INITIAL DEVELOPMENT OF HABLA (HARDWARE ABSTRACTION LAYER) - A Middleware Software Tool},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={53-58},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001627800530058},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - INITIAL DEVELOPMENT OF HABLA (HARDWARE ABSTRACTION LAYER) - A Middleware Software Tool
SN - 978-972-8865-83-2
AU - Faíña A.
AU - Bellas F.
AU - J. Duro R.
PY - 2007
SP - 53
EP - 58
DO - 10.5220/0001627800530058