A software architecture for adaptive modular sensing systems

In this paper, a software architecture and knowledge representation scheme that enables the combination and reconfiguration of modular sensor and actuator components is described. The proposed software architecture utilizes a realtime operating system with a pre-emptive kernel, which simplifies the implementation of the architecture itself through the modularization and concurrent execution of its various software components. A virtual machine-based middleware layer runs on top of the operating system, enabling platform-independent logical algorithms to be written once, and run on any module irrespective of its underlying hardware architecture. Logical algorithms govern the behaviour of a given set of heterogeneous modules, providing them with intelligence and enabling them to behave as a single entity known as a logical module.