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A Methodology for Developing Robot Software Architectures (MDRSA)

A Methodology for Developing Robot Software Architectures (MDRSA). By Nelson Londoño Ospina. CONTENT. Personal Information Basic Concepts My Project The Paper Results Conclusions. PERSONAL INFORMATION. Nelson Londoño Ospina. Electronics Engineer.

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A Methodology for Developing Robot Software Architectures (MDRSA)

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  1. A Methodology for Developing Robot Software Architectures (MDRSA) By Nelson LondoñoOspina

  2. CONTENT • Personal Information • Basic Concepts • My Project • The Paper • Results • Conclusions

  3. PERSONAL INFORMATION • Nelson Londoño Ospina • ElectronicsEngineer • PhD student of Electronics at UNIVALLE • Professor at Universidad de Antioquia

  4. BASIC CONCEPTS 1. Robot 2. Methodology

  5. 1. Robot “It is a machine or device that operates automatically or by remote control” [1]

  6. TYPES OF ROBOTS Arm Robots or Industrial Robots Degrees of Freedom They are used for painting, for assembling, welding, etc

  7. Mobile Robots They can move freely in a specific environment

  8. Mobile robots have different structures and configurations • Rolling Robots They are used on flat surfaces

  9. Fish-like Robots • They are used in aquatic environments

  10. Walking Robots tistahb They are used on irregular surfaces

  11. Snake-like Robots They are used on pipe inspections

  12. Flying Robots Seo

  13. Khepera Robot Main Control System Gripper Camera

  14. mechanical, electrical and electronic devices The hardware refers to • All robots involve two main parts: software components, external components, and the interrelation between them. The software architecture refers to It is used to control the robot

  15. ANALOGY BETWEEN THE HUMAN BODY AND ROBOT SYSTEMS

  16. ANALOGY BETWEEN THE HUMAN BODY AND ROBOT SYSTEMS ROBOT SYSTEMS

  17. 2. Methodology “It is a collection of methods, practices, procedures and rules that may be derived to solve problems” [2]. • It is a set of practices or procedures. • It is not a formula It can refer to the science that studies the methods for solving problems. [3]

  18. PROJECT I propose a “Methodology for Developing Robot Software Architectures”. (MDRSA) SoftwareEngineer Robotics Engineer Uses a methodology, representation and languages Proposes the architecture Uses Methods, procedures applies them to software architecture

  19. THE PAPER It presents a methodology which is the result of my research project. • Identified problems: • The particular complexity of Mobile Robot Control Architectures • Communication problems between experts.

  20. The solution • The idea is to propose: • a set of stages and • a standard language • to develop software architectures for mobile robots.

  21. I propose a methodology composed by: • stages to help the design • a set of graphics to understand the problem (architecture) • steps which help to design control systems

  22. The General Methodology Stages for developing Robot Software Systems

  23. Proposed architecture Functional Blocks

  24. Specification Use Case Specification Specification Flowchart

  25. Specification Use Case Specification UML Specification Specification Flowchart

  26. Analysis

  27. The analysis model of the robot system

  28. Design S.E. take Analysis Model Software Packages

  29. The general design process concludes with a clear definition of classes (specific software term), their interfaces and their relationship

  30. RESULTS • A Methodology for Developing Robot Software Architecture was proposed. • A mobile robot architecture was proposed with the aim of applying such methodology. • A methodology in a graphic and standard language has been presented .

  31. RESULTS • This methodology covers • A Conception which defines the problem • An Analysis which defines the solution • A Design which defines the software packages • An Implementation which converts the solution into a machine language.

  32. CONCLUSIONS • The methodology has been conceived as a tool to shorten the communication gap between different engineers involved in mobile robot architectures. • The main stages of a methodology have been proposed.

  33. CONCLUSIONS • MDRSA has proven to be a good choice since: • It uses standard software methodology. • It involves all aspects of the development process (specification, analysis, design, validation and testing) • It uses a standard language software (UML).

  34. Thanks for your attention

  35. Do you have any questions

  36. REFERENCES [1]: http://www.answers.com/topic/robot [2]: http://en.wiktionary.org/wiki/methodology [3]: http://www.wordiq.com/definition/Methodology

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