DEVELOPMENT PLATFORM FOR ROBOTIC SYSTEMS
First Claim
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1. A system for robotics development, the system comprising:
- a computing-device generated platform for development of a robotics device, the platform including;
one or more libraries holding a plurality of robotic device module objects defining functionality of associated robotic device modules, the plurality of robotic device module objects including objects associated with at least two different types of robotic device modules, the objects associated with the at least two different types of robotic device modules holding information for communicating with their respective associated robotic device modules; and
an abstract communication protocol supported by instances of the robotic device module objects and used to interconnect the platform and a plurality of robotic device modules, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between robotic device modules using a plurality of different types of network transport layer protocols, the robotic device modules respectively controlling a plurality of hardware components for the robotics device.
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Abstract
A unified system for development of robotics and other cyber-physical systems is discussed. The unified system includes a platform that integrates the processing of actuators and sensors and other modules. The platform is inter-operable into many existing systems. Various modules are developed to do discrete tasks that are commonly found in robotics such as moving motors or reading and controlling sensors. The modules communicate with each other and with other devices such as computers and user built modules through the use of a commonly supported abstract communication protocol.
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Citations
27 Claims
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1. A system for robotics development, the system comprising:
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a computing-device generated platform for development of a robotics device, the platform including; one or more libraries holding a plurality of robotic device module objects defining functionality of associated robotic device modules, the plurality of robotic device module objects including objects associated with at least two different types of robotic device modules, the objects associated with the at least two different types of robotic device modules holding information for communicating with their respective associated robotic device modules; and an abstract communication protocol supported by instances of the robotic device module objects and used to interconnect the platform and a plurality of robotic device modules, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between robotic device modules using a plurality of different types of network transport layer protocols, the robotic device modules respectively controlling a plurality of hardware components for the robotics device. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for operating a distributed robotics development system, the method comprising:
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providing a platform for development of a robotics device including a plurality of robotic device modules, the platform including; one or more libraries holding a plurality of robotic device module objects defining functionality of associated robotic device modules, instances of the robotic device module objects supporting the use of an abstract communication protocol to interconnect the platform and a plurality of robotic device modules of the robotics device, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between robotic device modules using a plurality of different types of network transport layer protocols; designating with the platform a host to control at least one robotics device module in the robotics device, the at least one robotics device module designated as a node; receiving at the host a communication from the node, the communication using the abstract communication protocol and describing an interface for the node; transmitting a command from the host to the node, the command directed to a hardware component associated with the node; and receiving, at the host, a result of an attempted execution of the command from the node. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. A non-transitory computer-readable medium holding computer-executable instructions that when executed cause at least one computing device to:
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provide a platform for development of a robotics device including a plurality of robotic device modules, the platform including; one or more libraries holding a plurality of robotic device module objects defining functionality of associated robotic device modules, instances of the robotic device module objects supporting the use of an abstract communication protocol to interconnect the platform and a plurality of robotic device modules of the robotics device, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between robotic device modules using a plurality of different types of network transport layer protocols; designate with the platform a host to control at least one robotics device module in the robotics device, the at least one robotics device module designated as a node; receive at the host a communication from the node, the communication using the abstract communication protocol and describing an interface for the node; transmit a command from the host to the node, the command directed to a hardware component associated with the node; and receive, at the host, a result of an attempted execution of the command from the node. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for performing unit testing in a robotics development system, the method comprising:
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providing a platform for development of a robotics device including a plurality of robotic device modules, the platform including; one or more libraries holding a plurality of robotic device module objects defining functionality of associated robotic device modules, instances of the robotic device module objects supporting the use of an abstract communication protocol to interconnect the platform and a plurality of robotic device modules of the robotics device, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between robotic device modules using a plurality of different types of network transport layer protocols; designating with the platform a host to control at least one robotics device module in the robotics device, the at least one robotics device module designated as a node, the node controlling a computing resource simulating the performance of virtual hardware component in the robotics device; receiving at the host a communication from the node, the communication using the abstract communication protocol and describing an interface for the node; transmitting a command from the host to the node, the command directed to the virtual hardware component associated with the node; receiving, at the host from the node, a result of the simulated execution of the command by the computing resource; and evaluating with the platform the performance of the virtual hardware component in the robotics device. - View Dependent Claims (26)
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27. A system for a cyber-physical system development, the system comprising:
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a computing-device generated platform for development of a cyber-physical system (CPS), the platform including; one or more libraries holding a plurality of CPS module objects defining functionality of associated CPS modules, the plurality of CPS module objects including objects associated with at least two different types of CPS modules, the objects associated with the at least two different types of CPS modules holding information for communicating with their respective associated CPS modules; and an abstract communication protocol supported by instances of the CPS module objects and used to interconnect the platform and a plurality of CPS modules, the abstract communication protocol supporting communication over a plurality of different types of physical layer connections and further supporting communication between CPS modules using a plurality of different types of network transport layer protocols, the CPS modules respectively controlling a plurality of hardware components for the CPS system.
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Specification