The MAESTRO language and its environment: specification, validation and control of robotic missions

Turro, Nicolas

doi:10.1109/iros.1997.655107

Cited by 23 publications

(10 citation statements)

References 6 publications

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“…To each task corresponds a single automaton managing starting, termination, and exceptions. The discrete control layer is then described either by means of the synchronous reactive language Esterel [16], either with MaestRo [17], a domain-specific language designed as a front end for Orccad . MaestRo features imperative sequencing constructs, applied to the defined robot tasks.…”

Section: Robotics Systems As Multitasks Systemsmentioning

confidence: 99%

“…It can also eventually stop. Such applications correspond to the control layer, defined with the MaestRo language within Orccad [17]; but while a MaestRo program entirely defines the behavior of this control layer, applications in Nemo will define some control points to be constrained by means of discrete controller synthesis. This whole control layer is a discrete event system, we see it as a synchronous reactive system [12].…”

Section: Computations Tasks Applicationsmentioning

confidence: 99%

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A Domain-Specific Language for Multitask Systems, Applying Discrete Controller Synthesis

Delaval¹,

Rutten²

2007

EURASIP Journal on Embedded Systems

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We propose a simple programming language, called Nemo, specific to the domain of multitask real-time control systems, such as in robotic, automotive, or avionics systems. It can be used to specify a set of resources with usage constraints, a set of tasks that consume them according to various modes, and applications sequencing the tasks. We automatically obtain an applicationspecific task handler that correctly manages the constraints (if there exists one), through a compilation-like process including a phase of discrete controller synthesis. This way, this formal technique contributes to the safety of the designed systems, while being encapsulated in a tool that makes it usable by application experts. Our approach is based on the synchronous modelling techniques, languages, and tools.

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Section: Robotics Systems As Multitasks Systemsmentioning

confidence: 99%

Section: Computations Tasks Applicationsmentioning

confidence: 99%

A Domain-Specific Language for Multitask Systems, Applying Discrete Controller Synthesis

Delaval¹,

Rutten²

2007

EURASIP Journal on Embedded Systems

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“…Proposed methodologies concern operating systems like Chimera II based on a VME-bus [11] and QNX [12] that is the first real-time OS supporting 3D graphics. They also concern programming languages like RCCL [13] and MAESTRO [14] and applications like Servomatic [15] and Xvision [16] adapted in the particular operation rules of the robotic systems.…”

Section: Introductionmentioning

confidence: 99%

HumanPT: Architecture for Low Cost Robotic Applications

Pachidis

Lygouras

Tarchanidis

et al. 2006

2006 IEEE Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems

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In this paper an architecture for low cost robotic applications as well as its implementation in a commercial robot is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot + robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server-client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one,to ensure -in case that the robotic system provide such a facilitycontrol and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. The proposed architecture provides the possibility in small enterprises to be automated enhancing in this way their production.

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“…MAESTRO [12] and ORCCAD [7] provide high-level languages specialized for robotics domain. For the data plane, efficient computation is the most important goal.…”

Section: Principle 1: Separation Of Control Components From Computatimentioning

confidence: 99%

Re-engineering software architecture of home service robots: a case study

Kim¹,

Lee²,

Hong³

et al.

Proceedings. 27th International Conference on Software Engineering, 2005. ICSE 2005.

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With the advances of robotics, computer science, and other related areas, home service robots attract much attention from both academia and industry. Home service robots present interesting technical challenges to the community in that they have a wide range of potential applications, such as home security, patient caring, cleaning, etc., and that the services provided by the robots in each application area are being defined as markets are formed and, therefore, they change constantly.Without architectural considerations to address these challenges, robot manufacturers often focus on developing technical components (e.g., vision recognizer, speech processor, and actuator) and then attempt to develop service robots by integrating these components. When prototypes are developed for a new application, or when services are added, modified, or removed from existing robots, unexpected, undesirable, and often dangerous side-effects, which are known as feature interaction problem, happen frequently. Reengineering of such robots can make a serious impact in delivery time and development cost.In this paper, we present our experience of re-engineering a prototype of a home service robot developed by Samsung Advanced Institute of Technology. First, we designed a modular and hierarchical software architecture that makes interaction among the components visible. With the visibility of interactions, we could assign functional responsibilities to each component clearly. Then, we re-engineered existing codes to conform to the new architecture using a reactive language Esterel. As a result, we could detect and solve feature interaction problems and alleviate the difficulty of adding or updating components.

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The MAESTRO language and its environment: specification, validation and control of robotic missions

Cited by 23 publications

References 6 publications

A Domain-Specific Language for Multitask Systems, Applying Discrete Controller Synthesis

A Domain-Specific Language for Multitask Systems, Applying Discrete Controller Synthesis

HumanPT: Architecture for Low Cost Robotic Applications

Re-engineering software architecture of home service robots: a case study

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