João Frazão Rescue Project Software Architecture João Frazão

System

João Frazão Execution Modes Control Design Calibration Supervisory Control and monitoring Data logging and Debug

João Frazão Example (Control)

João Frazão Architecture Control Elements Implemented Blackboard (Name Server) Ports –For control –For Comunication Agents –Control Loop Agent –Concurrent Agent –State Machine

João Frazão Ports CORBA interface (distributed) Special Sample Fifos –Value –Timetag –Sequence number OPERATION –Read Blocking Non-Blocking –Read By SeqNumber By Time –Write Non Blocking

João Frazão Futher Work ! Connect the several parts together ! Make the other Generic Agents –Agent guided by table –Robot Agent –Team Agent Make the other operation modes Implement Some simple algoritms