Three-Layered Software Architecture and Its Variability for Teleoperated System

Yasuharu Kunii, Yoshiki Matsui, Masaru Furukawa

Abstract

In a teleoperated system, robots are often required to easily change among various modes of operation; further, an efficient development of large-scale teleoperated systems is desired. Thus, we propose a three-layer software architecture implemented using a database node module (DNM). All modules are connected to a DNM, with connections among modules defined as virtual connections. It is possible to change connections during operation via the virtual connection of the DNM, and the DNM can achieve high-speed communication and high-speed connection changes. We examined the evaluation index of our module design using this architecture because module interface and function design influence the architecture. Finally, we confirmed that a robot based on our architecture worked in a real environment.

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Paper Citation


in Harvard Style

Kunii Y., Matsui Y. and Furukawa M. (2015). Three-Layered Software Architecture and Its Variability for Teleoperated System . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 349-356. DOI: 10.5220/0005547703490356


in Bibtex Style

@conference{icinco15,
author={Yasuharu Kunii and Yoshiki Matsui and Masaru Furukawa},
title={Three-Layered Software Architecture and Its Variability for Teleoperated System},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={349-356},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005547703490356},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Three-Layered Software Architecture and Its Variability for Teleoperated System
SN - 978-989-758-123-6
AU - Kunii Y.
AU - Matsui Y.
AU - Furukawa M.
PY - 2015
SP - 349
EP - 356
DO - 10.5220/0005547703490356