Middleware for Robotic Applications
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| Logo | |
| Developer(s) | MetraLabs GmbH, Ilmenau University of Technology |
|---|---|
| Initial release | 27 April 2012 |
| Stable release | 0.14
/ 25 September 2012 |
| Written in | C++ |
| Operating system | Linux, Windows |
| Type | Robotics suite, Middleware |
| License | Dual License: GPL Version 3, Professional Edition License |
| Website | www |
Middleware for Robotic Applications (MIRA) is a cross-platform, open-source software framework written in C++ that provides a middleware, several base functionalities and numerous tools for developing and testing distributed software modules. It also focuses on easy creation of complex, dynamic applications, while reusing these modules as plugins. The main purpose of MIRA is the development of robotic applications, but as it is designed to allow type safe data exchange between software modules using intra- and interprocess communication it is not limited to these kinds of applications. [1]
MIRA is developed in a cooperation of the MetraLabs GmbH and the Ilmenau University of Technology/Neuroinformatics and Cognitive Robotics Lab. Therefore, MIRA was designed to fulfill the requirements of both commercial and educational purposes.
Features
General:
- efficient data exchange between software modules
- the used communication technique based on "channels" always allows non-blocking access to the transferred data [2]
- for the user the communication is fully transparent no matter if the software modules are located within the same process, different processes or on different machines, the underlying transport layer will choose the fasted method for data transportation automatically[2]
- adds introspection/reflection and serialization to C++ with the usage of C++ language-constructs only (a meta-language or meta-compilers are not necessary)
- easy to teach and easy to use
Robotic Application specific:
- easy configuration of software modules via configuration files
- parameters of algorithms can be modified live at runtime to speed up the debugging and development process
- huge amounts of robot sensor data can be recorded in Tapes for later playback, here different codecs can be used to compress the data
Platforms
MIRA supports and was successfully tested on the following platforms:
- Linux – Ubuntu and derivates, OpenSuse, CentOS, Red Hat and Fedora[3]
- Windows – Microsoft Windows XP, Windows Vista, Windows 7 (32bit and 64bit)[4]
Applications using MIRA
MIRA is used within the following applications:
- Konrad and Suse - Guide Robots, that guide visitors within the Zuse-Building of the Ilmenau University of Technology[5][6]
- Monitor the air quality within clean rooms of Infineon Technologies using several SCITOS G5 robots[7][8]
and projects:
- CompanionAble - Integrated Cognitive Assistive & Domotic Companion Robotic System for Ability & Security[9]
- Robot-Era - Implementation and integration of advanced Robotic systems and intelligent environments in real scenarios for the ageing population[10]
References
- ^ "MIRA Project Website".
- ^ a b Einhorn, Erik (2012). "MIRA - Middleware for Robotic Applications". Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS).
{{cite journal}}: Unknown parameter|coauthors=ignored (|author=suggested) (help) - ^ "MIRA Documentation - Linux Support".
- ^ "MIRA Documentation - Windows Support".
- ^ "TU Ilmenau: Konrad-Zuse-Bau eröffnet". Thüringer Allgemeine Zeitung.
- ^ Stricker, Ronny (2012). "Konrad and Suse, Two Robots Guiding Visitors in a University Building". Proc. of Autonomous Mobile Systems (AMS).
{{cite journal}}: Unknown parameter|coauthors=ignored (|author=suggested) (help) - ^ "Ilmenauer Oberbürgermeister ließ sich von Roboter den Weg zeigen". Thüringer Allgemeine Zeitung.
- ^ "Der Markt bietet hohe Potenziale für mobile Robotik". TRIA.
- ^ "CompanionAble".
- ^ "Robot-Era".