Reference Architecture for Robot Teleoperation: Development details and Practical Use

The need to avoid redundant e!orts in software development has been recognized for a long time. Currently, work is focused on the generation of products that are designed to be reused. A reference architecture for robot teleoperation systems has been developed using the domain-engineering process and certain architectural patterns. The architecture has been applied successfully for the development of di!erent teleoperation platforms used in the maintenance activities of nuclear power plants. In particular, this paper presents how the reference architecture has been implemented in di!erent systems, such as the Remotely Operated Service Arm (ROSA), the Teleoperated and Robotized System for Maintenance Operation in Nuclear Power Plants Vessels (TRON) and the Inspection Retrieving Vehicle (IRV). 2001 Elsevier Science Ltd. All rights reserved.