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Real-Time Service-Oriented Architectures: A Data-Centric Implementation for Distributed and Heterogeneous Robotic System



OtsikkoProceedings of the 4th IFIP TC 10 International Embedded Systems Symposium, IESS 2013, Paderborn, Germany, June 2013.
ToimittajatGunar Schirner, Marcelo Götz, Achim Rettberg, Mauro C. Zanella, Franz J. Rammig
ISBN (elektroninen)978-3-642-38853-8
ISBN (painettu)978-3-642-38852-1
DOI - pysyväislinkit
TilaJulkaistu - 2013
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa


NimiIFIP Advances in Information and Communication Technology
ISSN (painettu)1868-4238
ISSN (elektroninen)1868-422X


Cyber-physical systems like networked robots have benefited from improvements in hardware processing power, and can facilitate modern component and service-based architectures that promote software reuse and bring higher-level functionality, improved integration capabilities, scalability and ease of development to the devices. However, these systems also have very specific requirements such as reliability, safety, and strict timeliness requirements set by the physical world, that must be addressed in the architecture.
This paper proposes a real-time capable service-oriented architecture, based on data-centric middleware and an open real-time operating system. A prototype implementation for a robotic remote handling scenario is used to test the approach. The architecture is evaluated on the basis of how well it fulfils the expectations given for the service-orientation, including: reusability, evolvability, interoperability and real-time performance. In one sentence, the goal is to evaluate the benefits of a data-centric approach to service-orientation in a performance-critical and distributed system.


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