Hardware and software architecture for Plexil-based, simulation supported, robot automation

Some obsolete - but common - practices in the application of fertilizers and pesticides are causing serious environmental problems in Colombia; a situation that could be addressed by combining robotics and modern farming management principles, for example, the Precision Agriculture. This paper describes a novel application of Plexil - an experimental synchronous programming language developed by NASA-for robot automation in agriculture, supported by a simulation platform that allows quick prototyping of an automation plan, and a transparent integration of it on a physical robot. As a result, a methodology for evolutive robot development, and a case study with a real six-wheeled multipurpose agricultural robot are presented. Further applications of the simulation platform as a mean to easily introduce robotics engineers to alternative - and less error prone-programming models are also discussed.

• Autores: Cadavid Rengifo, Héctor Fabio; Chaparro Preciado, Javier Alberto
• Tipo de recurso: Article of investigation
• Fecha de publicación: 2016
• Institución: Escuela Colombiana de Ingeniería Julio Garavito
• Repositorio: Repositorio Institucional ECI
• Idioma: eng
• OAI Identifier: oai:repositorio.escuelaing.edu.co:001/1806
• Acceso en línea: https://repositorio.escuelaing.edu.co/handle/001/1806
• Palabra clave: agriculture; industrial robots; mobile robots; software architecture; Robots industriales; Arquitectura de software; Automatización; Sistemas de detección de robots; Robótica; Robot sensing systems; Automation; Actuators; Software; Adaptation models; Hardware
• Rights: closedAccess
• License: https://creativecommons.org/licenses/by/4.0/