Use this resource - and many more! - in your textbook!
AcademicPub holds over eight million pieces of educational content for you to mix-and-match your way.
An object-oriented environment for robot system architectures
By: Miller, D.J.; Lennox, R.C.;
1990 / IEEE / 0-8186-9061-5
This item was taken from the IEEE Periodical ' An object-oriented environment for robot system architectures ' The object-oriented Robot Independent Programming Environment (RIPE) is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, and robust communication. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classes and device-specific subclasses which inherit the same interface, the Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask-handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment.<
Nuclear Waste Facilities
Object-oriented Robot Independent Programming Environment
Model-based Automated Planning
Real-time Sensor-based Activity
Robot Independent Programming Language
Robotic Cask-handling Operations
Robotics And Automation
Object Oriented Modeling
Robot Sensing Systems