Integration of different hardware interfacing protocols into a robotic software framework

Research as well as industrial projects in the field of micro- and nanorobotics often incorporate complex experimental setups using different devices with varying and often complex interfaces. In order to provide an easier interface to these devices, this paper outlines the extension of a versatile software framework called OFFIS Automation Framework, for automation, image processing and controlling purposes in this field of application. Especially, features like the integration of a macro world robot operating system, an industrial level and real-time capable automation system and the support of a standard laboratory device interface are introduced in this work. Furthermore, applications are presented for each of these new features. Finally, the field of applications is summarized and a brief outlook is given on future developments of this software framework.