RAH is the acronym for Robô Ambiental Híbrido, that means Hybrid Environmental Robot. This robot was early developed by Petrobras technological center (CENPES) team to monitor a gas pipeline formerly owned by Petrobras from Coari to Manaus at the Amazon region. Later, when managed by Ativatec we were invited to partner up to develop the robotic software platform.
DISTRIBUTED COMPONENT SYSTEM
The major challenge consisted on developing a software platform for a robot considering a flexible architecture: the system should cope with several assembly scenarios, varying equipment selection. It was also considered a mission-critical system, requiring to cope with faults (endogeous and exogenous).
The software solution was implemented as a distributed component system, with a deployer tool to select the assembly scenario, configure the components and launch them on the remote embedded nodes. The user interface was also adapted according to the launched component set.
The system architecture was also based on autonomic computing with self-adaptable features, thus capable of detecting failures, avoiding disasters, and whenever is possible attempting to recover the system to a stable state.