Timing Analysis of a Generic Robot Teleoperation Software Architecture

Abstract

The development of generic software architectures for specific application domains is an effective way of reusing software. This was one of the aims in the development of an architecture for teleoperating robots, which can be adapted for dealing with different jobs, operational environments and robots. However these kind of systems use to have timing requirements. Hence when evaluating the feasibility of this architecture for a particular application, it is necessary to check not only that the appropriate functions are included but that the timing requirements are fulfilled as well. The purpose of this paper is to present a characterization of this architecture for analysing its timing properties using the Rate Monotonic Analysis method. In this way, the designer can check easily whether the architecture can meet the timing requirements by providing the specific timing requirements of the particular application and the computation time of the activities in the target platform. In this way a generic architecture and a method for checking its timing properties is provided.