Programming abstractions and middleware for building control systems as networks of smart sensors and actuators

Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.