Evaluación y desarrollo incremental de una arquitectura software de referencia para sistemas de teleoperación utilizando métodos formales

摘要

Teleoperation systems cover a wide range of missions and mechanisms, and each must satisfy a number of specific requirements. The thesis deals with the evaluation and redesign of a reference architecture for robot tele-operation systems, using respectively the methods ATAM (Architecture Tradeoff Analysis Method) and ABD (Architecture Based Design). Among the main contributions of the thesis may be included: Characterization of quality attributes of the teleoperation systems. Assessment of a reference architecture using the ATAM method. A functional decomposition for the considered systems A requirement specification for a component model applicable to teleoperation systems.