The heterogeneity of execution platforms and operating software in manufacturing machines and robots, as well as various sensors and actuators, creates challenges for integration into larger systems. Existing approaches make use of different types of middleware to mitigate the challenges of designing interoperable systems. However, middleware can significantly impede modular design and composition of software systems that are dynamic in nature. This paper elaborates upon those challenges and proposes using an approach called service-oriented SystemJ (SOSJ), based on the system-level programming language SystemJ enhanced with service oriented features. This approach allows developers to design dynamic software systems while adopting and incorporating legacy solutions. The approach is demonstrated on the integration of an industrial automation system, incorporating the use of multiple modular mechatronics stations and service robotics systems, represented by robot operating system-enabled Baxter robots. The proposed approach offers a simple service interface based on abstract objects for integrating robots and automation machines in the SOSJ world, without the need to modify the underlying mechatronics or robotics systems.

中文翻译：

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设计动态和协同的自动化和机器人软件系统

制造机器和机器人以及各种传感器和执行器中执行平台和操作软件的异质性给集成到大型系统中带来了挑战。现有方法利用不同类型的中间件来减轻设计可互操作系统的挑战。但是，中间件可能会严重阻碍本质上是动态的软件系统的模块化设计和组成。本文详细阐述了这些挑战，并基于系统级编程语言SystemJ（增强了面向服务的功能），提出了一种称为面向服务的SystemJ（SOSJ）的方法。这种方法允许开发人员在采用和合并旧解决方案的同时设计动态软件系统。在集成了多个模块化机电一体化站和服务机器人系统（以支持机器人操作系统的Baxter机器人为代表）的工业自动化系统的集成中证明了该方法。所提出的方法提供了一个基于抽象对象的简单服务接口，用于在SOSJ世界中集成机器人和自动化机器，而无需修改底层的机电一体化或机器人系统。