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Ch86-I044963.fm Page 427 Tuesday, August 1, 2006 5:29 PM
Tuesday, August
1, 2006
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Ch86-I044963.fm
5:29 PM
427
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QUTIE - MODULAR METHODS FOR BUILDING COMPLEX
MECHATRONIC SYSTEMS
Antti Tikanmaki, Tero Vallius, Juha Roning

Intelligent Systems Group, University of Oulu
P.O. Box 4500, Fin-90014 Oulu, Finland

ABSTRACT

This article introduces a modular mechatronic device construction method, based on the Atomi
concept and Property Service Architecture. The Atomi concept is based on an "embedded- object"
based architecture, which applies the common object oriented methods used in the software of
combined software and hardware entities called Atomis. The Property Service is software
architecture for fast and ease intersystem control and communication. It provides a generic interface
for easy, dynamic interfacing to any device over a network, enabling easy modular control of a
system consisting of systems. These are generalised methods, suitable for creating any kind of
robots or systems through high modularity in mechanics, electronics, and control software
architecture. As a test case, the development of Qutie, an interactive mobile robot, has been
described.

KEYWORDS
Modular mechanics, mobile robot, embedded systems, Atomi, Property Service

INTRODUCTION

Building a robot is a demanding task. To create a sophisticated combination of mechanics,
electronics and software requires a lot of engineering work and expertise. A mobile robot
containing a set of sensors and actuators as well as onboard computer and power systems is a
complex system that sets great requirement for the electronics. Traditionally, a robot consists of
customized electronic boards and specifically designed hardware i.e. sensors and actuators. This
kind of architecture has the disadvantages of limited or no expandability and modifications
requiring new control boards. Modularity is therefore important for several reasons. As implied
before, it makes expanding easy and modifications possible by changing the configuration of
modules instead of the complete system. Additionally, there are advantages in maintainability (only