EMWF for Flexible Automation and Assistive Devices.
Journal
15th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2009, San Francisco, CA, USA, 13-16 April 2009
Pages
243-252
Date Issued
2009
Author(s)
Chou, Ting-Shuo
Chang, Su-Ying
Lu, Yung-Feng
Wang, Yu-Chung
Ouyang, M. K.
Shih, Chi-Sheng
Kuo, Tei-Wei
Hu, J. S.
Abstract
This paper describes an embedded workflow framework (EMWF) that enables flexible personal and home automation and assistive devices and service and social robots (collectively referred to as SISARL) to be built on workflow architecture The process definition language supported by EMWF is called SISARL-XPDL. It consists of a subset of the WfMC standard XML Process Definition Language (XPDL) 2.0, together with elements that implement common mechanisms for robot behavior coordination. SISARL-XPDL definitions of workflows are first translated into standard XPDL and execution directives and then are parsed either directly into binary workflow scripts for execution or into intermediate scripts in C. EMWF provides workflow engines for Linux and Windows CE platforms. The engines are written in C in order to keep their memory footprint and runtime overhead small. Performance data show that the overheads introduced by the engine and workflow data are tolerable for most SISARL devices.
Type
conference paper