A framework for designing dynamic and interoperable automation and robotics systems

In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. The approach abstracts and integrates the worlds of automation and robotics systems by using a simple service interface based on abstract objects within SOSJ. We demonstrate our approach in a real-life automated bottling system scenario that uses multiple FESTO modular stations operating in SOSJ and integrating them with two Baxter robots operating in ROS without the need for any modification of the underlying mechatronics or robotics systems.