Programming abstractions and middleware for building control systems as networks of smart sensors and actuators
Programming abstractions and middleware for building control systems as networks of smart sensors and actuators
复制标题
作为智能传感器和执行器网络的建筑控制系统的编程抽象和中间件
DOI：
--
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
J. Kaiser
中科院分区：
文献类型：
--
作者：
Sebastian Zug;M. Schulze;André Dietrich;J. Kaiser
开发复杂的传感器/执行器系统，如机器人应用程序，是由众多不同的硬件平台，网络，编程语言，数据格式等的挑战。在本文中，我们提出了我们的架构，处理这种异质性，并允许灵活的智能传感器和执行器的组成。主要的重点在于一个两层的方法相结合的通信中间件FAMOUSO和编程抽象MOSAIC。FAMOUSO使网络系统之间的信息交换，隐藏了硬件和网络级别的高度异构性，并可用于不同的编程环境。MOSAIC使用FAMOUSO并提供对交换信息的通用访问。此外，它还提供了一种从不同传感器和执行器硬件中抽象的方法，并为具有预定义组件的应用程序开发提供了一个框架，从而实现了全面的故障检测。最后，本文的案例研究，展示了如何使用的中间件和编程抽象来构建一个分布式模块化系统的机器人操作器。
Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.