RIPE: A Robot Independent Programming Environment

Conference · Wed Oct 31 23:00:00 EST 1990

OSTI ID:714956

Miller, D J; Lennox, R C ^[1]

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1. Sandia National Labs, Albuquerque, NM (United States)

An object-oriented Robot Independent Programming Environment (RIPE) developed at Sandia National Laboratory is being used for rapid design and implementation of a variety of applications. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, and robust communications. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classifications and device-specific subclasses which inherit the same interface, a Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask handling operations for nuclear waste facilities are successfully implemented and using this object-oriented software environment.

• Research Organization: General Electric Co., Largo, FL (United States). Neutron Devices Dept.
• DOE Contract Number: AC04-76DP00656
• OSTI ID: 714956
• Report Number(s): GEPP-CP--1222; CONF-9004263--; ON: TI91020218
• Country of Publication: United States
• Language: English

Related Subjects

05
42 ENGINEERING
99 GENERAL AND MISCELLANEOUS
CASKS
COMMUNICATIONS
COMPUTERIZED CONTROL SYSTEMS
DATA COVARIANCES
DESIGN
DISTRIBUTED DATA PROCESSING
HAZARDOUS MATERIALS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
NUCLEAR INDUSTRY
ON-LINE MEASUREMENT SYSTEMS
PROGRAMMING
RADIOACTIVE MATERIALS
REAL TIME SYSTEMS
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
SANDIA LABORATORIES
WASTE MANAGEMENT
WASTE STORAGE