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 descr...
- 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/
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Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| title |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| spellingShingle |
Hardware and software architecture for Plexil-based, simulation supported, robot automation 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 |
| title_short |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| title_full |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| title_fullStr |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| title_full_unstemmed |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| title_sort |
Hardware and software architecture for Plexil-based, simulation supported, robot automation |
| dc.creator.fl_str_mv |
Cadavid Rengifo, Héctor Fabio Chaparro Preciado, Javier Alberto |
| dc.contributor.author.none.fl_str_mv |
Cadavid Rengifo, Héctor Fabio Chaparro Preciado, Javier Alberto |
| dc.contributor.researchgroup.spa.fl_str_mv |
Informática |
| dc.subject.armarc.none.fl_str_mv |
agriculture industrial robots mobile robots software architecture |
| topic |
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 |
| dc.subject.armarc.SPA.fl_str_mv |
Robots industriales Arquitectura de software Automatización Sistemas de detección de robots Robótica |
| dc.subject.proposal.eng.fl_str_mv |
Robot sensing systems Automation Actuators Software Adaptation models Hardware |
| description |
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. |
| publishDate |
2016 |
| dc.date.issued.none.fl_str_mv |
2016 |
| dc.date.accessioned.none.fl_str_mv |
2021-11-05T23:47:15Z |
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2021-11-05T23:47:15Z |
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9781509037872 |
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https://repositorio.escuelaing.edu.co/handle/001/1806 |
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9781509037872 |
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eng |
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eng |
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6 |
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1 |
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N/A |
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2016 IEEE Colombian Conference on Robotics and Automation (CCRA) |
| dc.relation.references.spa.fl_str_mv |
Jason Biatek, Michael W Whalen, Mats PE Heimdahl, Sanjai Rayadurgam and Michael R Lowry, "Analysis and testing of plexil plans", Proceedings of the 2nd FME Workshop on Formal Methods in Software Engineering, pp. 52-58, 2014. Rodolfo Bongiovanni and Jess Lowenberg-DeBoer, "Precision agriculture and sustainability", Precision agriculture, vol. 5, no. 4, pp. 359-387, 2004. G Brat, M Gheorghiu, D Giannakopoulou and C Pasareanu, "Verification of plans and procedures", Aerospace Conference 2008 IEEE, pp. 1-8, 2008. Christophe Cariou, Roland Lenain, Benoit Thuilot and Michel Berducat, "Automatic guidance of a four-wheel-steering mobile robot for accurate field operations", Journal of Field Robotics, vol. 26, no. 6-7, pp. 504-518, 2009. Erin Catto, Box2d physics engine, World Wide Web electronic publication, 2009. Gilles Dowek, César Munoz and Camilo Rocha, "Rewriting logic semantics of a plan execution language", arXiv preprint arXiv:1002.2872, 2010. Juan Pablo González, Brigid Pacheco, Fernanda Viasus and Karen Ayala, "Movilidad de pesticidas en aguas superficiales empleados en agricultura y riesgos para la salud humana en la zona centro del departamento de boyacá-colombia", L'esprit Ingénieux, vol. 3, no. 1, 2012. Nathan Koenig and Andrew Howard, "Design and use paradigms for gazebo an open-source multi-robot simulator", Intelligent Robots and Systems 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3, pp. 2149-2154, 2004. Thomas Linner, Alaguraj Shrikathiresan, V Maxim, Bernhard Ellmann and Thomas Bock, "Modelling and operating robotic environments using gazebo/ros", Proceedings of 28th International Symposium on Automation and Robotics in Construction (ISARC), June 2011. 0Olivier Michel, Webotstm: Professional mobile robot simulation, 2004. P Orozco et al., "Impacto ambiental de los fertilizantes en la agricultura con énfasis en el cultivo de la papa", Technical report, 1995. Dumitru Potop-Butucaru, Robert de Simone and Jean-Pierre Talpin, "The synchronous hypothesis and synchronous languages" in The embedded systems handbook, pp. 1-21, 2005. Camilo Rocha, Hector Cadavid, Cesar Munoz and Radu Siminiceanu, "A formal interactive verification environment for the plan execution interchange language" in Integrated Formal Methods, Springer, pp. 343-357, 2012. Camilo Rocha, Cesar Munoz and Hector Cadavid, "A graphical environment for the semantic validation of a plan execution language", Proceedings of the Third IEEE International Conference on Space Mission Challenges for Information Technology SMC-IT'09, pp. 201-207, 2009. Sachin Saxena, Vinay Kumar, Sarabjeet Singh Luthra and Alok Kumar, 4 wheel steering systems (4was), 2014. |
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6 páginas. |
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Bogotá. Colombia. |
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Cadavid Rengifo, Héctor Fabioa7c977901db3a9e538ba765ea21c10b3600Chaparro Preciado, Javier Albertob18d3fb3dd34c8d143c27da9b12dd10a600Informática2021-11-05T23:47:15Z2021-11-05T23:47:15Z20169781509037872https://repositorio.escuelaing.edu.co/handle/001/1806Some 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.Algunas prácticas obsoletas -pero comunes- en la aplicación de fertilizantes y pesticidas están causando serios problemas ambientales en Colombia; una situación que podría abordarse combinando la robótica y los principios modernos de gestión agrícola, por ejemplo, la agricultura de precisión. Este artículo describe una aplicación novedosa de Plexil, un lenguaje de programación síncrono experimental desarrollado por la NASA, para la automatización de robots en la agricultura, con el apoyo de una plataforma de simulación que permite la creación rápida de prototipos de un plan de automatización y una integración transparente del mismo en un robot físico. Como resultado, se presenta una metodología para el desarrollo de robots evolutivos y un caso de estudio con un robot agrícola multipropósito real de seis ruedas. También se analizan otras aplicaciones de la plataforma de simulación como un medio para introducir fácilmente a los ingenieros de robótica en modelos de programación alternativos y menos propensos a errores.6 páginas.application/pdfenghttps://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/closedAccessAtribución 4.0 Internacional (CC BY 4.0)http://purl.org/coar/access_right/c_14cbHardware and software architecture for Plexil-based, simulation supported, robot automationCapítulo - Parte de Libroinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/resource_type/c_3248Textinfo:eu-repo/semantics/bookParthttp://purl.org/redcol/resource_type/ARThttp://purl.org/coar/version/c_970fb48d4fbd8a85Bogotá. Colombia.61N/A2016 IEEE Colombian Conference on Robotics and Automation (CCRA)Jason Biatek, Michael W Whalen, Mats PE Heimdahl, Sanjai Rayadurgam and Michael R Lowry, "Analysis and testing of plexil plans", Proceedings of the 2nd FME Workshop on Formal Methods in Software Engineering, pp. 52-58, 2014.Rodolfo Bongiovanni and Jess Lowenberg-DeBoer, "Precision agriculture and sustainability", Precision agriculture, vol. 5, no. 4, pp. 359-387, 2004.G Brat, M Gheorghiu, D Giannakopoulou and C Pasareanu, "Verification of plans and procedures", Aerospace Conference 2008 IEEE, pp. 1-8, 2008.Christophe Cariou, Roland Lenain, Benoit Thuilot and Michel Berducat, "Automatic guidance of a four-wheel-steering mobile robot for accurate field operations", Journal of Field Robotics, vol. 26, no. 6-7, pp. 504-518, 2009.Erin Catto, Box2d physics engine, World Wide Web electronic publication, 2009.Gilles Dowek, César Munoz and Camilo Rocha, "Rewriting logic semantics of a plan execution language", arXiv preprint arXiv:1002.2872, 2010.Juan Pablo González, Brigid Pacheco, Fernanda Viasus and Karen Ayala, "Movilidad de pesticidas en aguas superficiales empleados en agricultura y riesgos para la salud humana en la zona centro del departamento de boyacá-colombia", L'esprit Ingénieux, vol. 3, no. 1, 2012.Nathan Koenig and Andrew Howard, "Design and use paradigms for gazebo an open-source multi-robot simulator", Intelligent Robots and Systems 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, vol. 3, pp. 2149-2154, 2004.Thomas Linner, Alaguraj Shrikathiresan, V Maxim, Bernhard Ellmann and Thomas Bock, "Modelling and operating robotic environments using gazebo/ros", Proceedings of 28th International Symposium on Automation and Robotics in Construction (ISARC), June 2011.0Olivier Michel, Webotstm: Professional mobile robot simulation, 2004.P Orozco et al., "Impacto ambiental de los fertilizantes en la agricultura con énfasis en el cultivo de la papa", Technical report, 1995.Dumitru Potop-Butucaru, Robert de Simone and Jean-Pierre Talpin, "The synchronous hypothesis and synchronous languages" in The embedded systems handbook, pp. 1-21, 2005.Camilo Rocha, Hector Cadavid, Cesar Munoz and Radu Siminiceanu, "A formal interactive verification environment for the plan execution interchange language" in Integrated Formal Methods, Springer, pp. 343-357, 2012.Camilo Rocha, Cesar Munoz and Hector Cadavid, "A graphical environment for the semantic validation of a plan execution language", Proceedings of the Third IEEE International Conference on Space Mission Challenges for Information Technology SMC-IT'09, pp. 201-207, 2009.Sachin Saxena, Vinay Kumar, Sarabjeet Singh Luthra and Alok Kumar, 4 wheel steering systems (4was), 2014.agricultureindustrial robotsmobile robotssoftware architectureRobots industrialesArquitectura de softwareAutomatizaciónSistemas de detección de robotsRobóticaRobot sensing systemsAutomationActuatorsSoftwareAdaptation modelsHardwareTHUMBNAILHardware and software architecture for Plexil-based, simulation supported, robot automation.pngHardware and software architecture for Plexil-based, simulation supported, robot automation.pngimage/png202402https://repositorio.escuelaing.edu.co/bitstream/001/1806/7/Hardware%20and%20software%20architecture%20for%20Plexil-based%2c%20simulation%20supported%2c%20robot%20automation.png485bdb1dd7d2f93b6ab0f5c5493c45d9MD57open accessHardware and software architecture for Plexil-based, simulation supported, robot automation.pdf.jpgHardware and software architecture for Plexil-based, simulation supported, robot automation.pdf.jpgGenerated Thumbnailimage/jpeg17819https://repositorio.escuelaing.edu.co/bitstream/001/1806/8/Hardware%20and%20software%20architecture%20for%20Plexil-based%2c%20simulation%20supported%2c%20robot%20automation.pdf.jpgd297307f9dd9c757b1f8a39953a42daaMD58metadata only accessORIGINALHardware and software architecture for Plexil-based, simulation supported, robot automation.pdfHardware and software architecture for Plexil-based, simulation supported, robot automation.pdfCapítulo - Parte de Libroapplication/pdf511780https://repositorio.escuelaing.edu.co/bitstream/001/1806/6/Hardware%20and%20software%20architecture%20for%20Plexil-based%2c%20simulation%20supported%2c%20robot%20automation.pdf5e80f01204f6c9e4c96cd94b02b5d6c7MD56metadata only accessLICENSElicense.txtlicense.txttext/plain; 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