![]() For example, a butler robot requires skills for navigation, object recognition, mobile manipulation, speaking, etc. The area of transition between high-level tasks and concrete configurations and parameterizations of components on the service-level.Ī collection of skills is required for the robot to do a certain task. Skill implementations are bundled with software components and are provided by the component supplier role.Ī skill defines basic capabilities of a robot. With skill definitions on Tier 2, skills enable the task modeling independent of the underlying software component architecture. Skills coordinate software components through RobMoSys Software Component Coordination interface. Skills provide access to the functionalities realized within components and make them accessible to the task level. separation of roles: component developer and behavior developer). The purpose of abstraction is to enable replacement and composition of components (components providing the same skill) and decoupling (e.g. For example, the architectural pattern for a software component spans across the levels of service, function and execution container.Ī the skill level is an abstraction level that decouples task-level and service-level. ![]() An architectural pattern combines several levels and several concerns. The blue line in the figure is an abstract example. The levels and concerns can be used to identify and illustrate architectural patterns. Establishing such levels for robotics would clearly help to communicate between robotics experts–as ISO/OSI does in computer science. The ISO/OSI separations in levels allows to develop efficient solutions for each level. The analogy is interesting, because ISO/OSI partitions the communication aspect in different levels of abstraction that then help to discuss and locate contributions. The levels can be seen as an analogy to “ISO/OSI model” for robotics that addresses additional concerns beyond communication. ![]() The levels indicate abstractions in a robotics system. Please also refer to the RobMoSys Glossary for descriptions of used terms. The figure below illustrates the separation of levels and the separation of concerns.
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