OpenHRP: Open Architecture Humanoid Robotics Platform

This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. OpenHRP also has a view simulator of humanoid robots on which humanoid robot vision can be studied. The consistency between the simulator and the robot are enhanced by introducing a new algorithm to simulate repulsive force and torque between contacting objects. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, thanks to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.KeywordsRepulsive ForceHumanoid RobotCollision DetectorReal RobotObject Management GroupThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

An architecture which seamlessly integrates multiple audio decoders onto a single DSP is presented. A new concept in the form of an open software architecture is implemented which allows third party owned intellectual property in the form of specialized software modules to coexist as value-added post decoder processing phases. This modular software architecture maintains flexibility and adaptability for future decoder and post processing integration. The means by which this architecture supports post processing functions across decoders is the focus of this paper.

The characteristics of open CNC system and the current several open CNC system models are introduced in this paper. In order to overcome the contradiction between the frequent changes demand and the closure of the traditional system, the open CNC system software and hardware architectures were investigated based on web-collaborative design and development, which improve the system development efficiency. Using the Windows XP operating system as a software platform, the Visual C++ 6.0 object-oriented programming language is adopted to design the CNC drilling control software based on the "PC + NC" the model and modular co-design methods, which improve the openness of the CNC system.

R2P: an Open Source Modular Architecture for Rapid Prototyping of Robotics Applications

This paper describes OpenTracker, an open software architecture that provides a generic solution to the different tasks involved in tracking input devices and processing tracking data for virtual environments. It combines a highly modular design with a configuration syntax based on XML, thus taking full advantage of this new technology. OpenTracker is a first attempt towards a write once, track anywhere approach to virtual reality application development.

The study aim was to develop a remote diagnostic monitoring system for pumping equipment with an open architecture to improve the reliability and efficiency of pump operation in various industrial sectors. The system is designed for the periodic collection and analysis of vibration and temperature signals, which allows for the prompt identification of potential equipment malfunctions and avoidance of emergency shutdowns during the production process. The aim of this study was to develop an effective open architecture for a diagnostic monitoring system for pumping equipment based on IoT technologies. The primary focus is on creating a system architecture that simplifies the installation and operation of equipment, ensures scalability and ease of integration with existing enterprise information systems, and reduces material implementation costs. To achieve this goal, the following objectives were addressed within the study: 1) selection of informative features from vibration signals that allow for the diagnosis of the most common faults in pumping equipment during periodic monitoring; 2) selection of hardware specifications that ensure the diagnostic monitoring system meets the stated requirements; and 3) development of a software and network architecture for the diagnostic monitoring system based on open hardware and software standards. The results of the experiments demonstrated that the developed system enables effective monitoring of the condition of pumping equipment and reduces the risk of emergency shutdowns, thereby optimizing operating costs. The incorporation of wireless technologies, open software products, and standards makes systems flexible and cost-effective, which is especially important for small and medium-sized industrial enterprises. Conclusion. The use of the proposed monitoring system improves the reliability of pumping equipment and maintenance management based on the current state data.

In 2008, Eurocopter and EADS Test & Services (T&S) jointly started a first project named EASI (EADS Avionic System IDE) in order to demonstrate the benefits for the EADS community of a collaborative development approach using an open architecture for large scale integration test systems. The goal is to obtain a tool or a set of tools able to manage avionic systems containing Eurocopter specificities, while sharing development effort of generic components with a large user community. One of the key components of this project is a multi-purpose real-time component dedicated to test systems based on open standards with an innovative plug-in approach and a small C++ kernel as its core. The work mainly consisted in developing modular and open software architecture without sacrificing performance. For instance, an original “zero memory copy” mechanism was developed in order to avoid spending time to transfer data from one plug-in to another one.

The integration of service function chains (SFCs) and unmanned aerial vehicles (UAVs) lays a crucial technological foundation for achieving efficient, reliable, and adaptive future airborne service networks. Service functions (SFs) in the SFC will be deployed on UAVs; this type of SFC is called unmanned aerial vehicle-based service function chains (USFCs). However, due to the combined effects of open hardware and software architectures, exposed communication links, and complex mission environments, UAVs have become ideal targets for attackers. Once a vulnerability is successfully injected into a UAV, data from the SFs running on it will be stolen, seriously threatening the dependability of the USFC. Therefore, it is necessary to conduct a quantitative evaluation of the USFC dependability to provide insights for further improving its dependability. This paper develops a USFC dependability evaluation model based on a semi-Markov process (SMP) to capture the dynamic interaction between attacker behavior and USFC system recovery behavior. The dependability of the USFC is comprehensively evaluated from two perspectives: availability and security. Extensive numerical analysis experiments are conducted, and the results not only demonstrate the changing trends of various dependability metrics under different parameters but also show parameter combinations for synergistic optimization among metrics.

A framework for on-line full optimising control of chemical processes

An interactive and color graphical front-end package to assist in the study of sparse matrix/vector methods is presented. The package is written in C and can be installed on any 286 PC machine. It is designed using an open software architecture. With this package, students can study the sparse matrix/vector methods in a portable and highly user friendly environment. A description of the package, a detailed demonstration of the user interface capabilities, and the hardware requirements are provided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

The article describes basic principles of creating software tools for monitoring and parameter visualization in computer control system of industrial robots. Concept of creating extendable data monitoring subsystem with open modular software architecture purposed. Architectural models, algorithms and software implementation of control system components on key levels of hierarchy such as collecting diagnosis data in real-time subsystem, data exchange with HMI devices and data visualization with help of predefined and user configured dialog screens are discovered. Implementation aspects of tools for monitoring and parameter visualization explained in application to different types of HMI devices like hand control panel, commissioning and programming software or remote terminal software.

This paper is on free and open source software architecture (FOSS) for remote labs in order to address the affordability and scalability of robotic education technology for sustainable deployments. The proposed Raspberry Pi-Arduino-based model architecture ensures lower cost while allowing some scalability, interoperability, portability and interchangeability to the low-cost online laboratory. Remotely controlled lab provides training skills in bio-inspired robotics. Our previous studies had shown that the implementation of remotely controlled online labs in the curriculum improved active learning among students, collaboration, and augmented problem solving skills. The preliminary implementation involved proprietary software, as the remote experiment accessibility platform, which was later replaced with FOSS technology. The advantages with FOSS included a significantly lower cost and scalability for concurrent usage. The paper also reports on usage analysis and common issues in both cases of implementations.

The development of ubiquitous computing systems benefits tremendously from the service-oriented computing concept in seamless interoperation of heterogeneous devices. However, architectures, services interfaces and network implementation of the existing service-oriented systems differ case by case. Furthermore, many systems lack the capability of being applied to resource constrained devices, for example, sensors. Therefore, we propose a standardized approach to present a service to the network and to access a networked service, which can be adopted by arbitrary types of devices. In this approach, services are specified and exposed through a set of standardized interfaces. Moreover, a virtual community concept is introduced to determine a secure boundary within which services can be freely discovered, accessed and composed into applications; a hierarchical management scheme is presented which enables the third party management of services and their underlying resources. In this way, application control logic goes into the network and environment context is dealt with intelligently by the system. A prototype system is developed to validate our ideas. Results show the feasibility of this open distributed system software architecture.

While the complexity of development and cost of Unmanned Aerial Systems (UAS) decrease, the use and market of UASs continuously increase. The benefits of UASs can however only be fully realized when they are allowed to autonomously fly Beyond Visual Line of Sight (BVLOS). To allow safe and efficient autonomous BVLOS flights, the European initiative SESAR came out with the concept of U -space to integrate UASs into the already populated airspace. There is however currently no open high-level software architecture that realizes the concept of U -space for autonomous BVLOS operations. In this work, we present an initial proposal of such a system, a service-oriented architecture named ROS-DOTS. We follow a modular design that supports the integration of services that can be modified and replaced independently. The benefit of our modular design is the use of high-level abstraction models for UAS operations, using modular services that are developed independently between each other. To show the potential of ROS-DOTS, we present a use case where several services in the architecture and a commercial UAS traffic management system work together to generate a flight plan for a UAS operation, that then can be retrieved from our system and unloaded into a UAS.

One-stop government refers to the integration of public services from a customer’s (citizen, business) point of view. One-stop government suggests that customers may request any public service through a single point of access using the communication channel of their choice (e.g., citizen center, call center, Internet, etc.). The one-stop concept further attempts to reduce the number of contacts with the authorities per service consumption to a minimum— one single interaction at best. The information and public services offered are organized and integrated in a customer-focused manner to address the personal needs and to cover the exact requirements of the citizens and business customers. To exploit the potential of one-stop government, the public sector should be accommodated with a set of information and communication technology tools that allow the back-office processes to interoperate. The public servants may thereafter use these tools in order to create and manage information and integrated public services that match the needs of their customers. In this chapter, the concept of online one-stop government is examined and a framework for realizing one-stop government is proposed. The proposed framework consists of process models and an open interoperable software architecture. A demonstrator that has been developed to implement the architectural design is also presented. Furthermore, the results of the trial use of the demonstrator in three European countries are outlined. Finally, experiences gained are provided and impact is assessed.