Date of Award

12-1996

Document Type

Thesis

Degree Name

Master of Science

Department

Department of Electrical and Computer Engineering

First Advisor

Mark A. Kanko, PhD

Abstract

This thesis represents a continuation of the assessment of the Unified Telerobotics Architecture Project (UTAP), a proposed Air Force standard. This architecture was developed by the NASA Jet Propulsion Laboratory and the National Institute of Standards under contract to the Air Force Materiel Command Robotics and Automation Center of Excellence at Kelly AFB, Texas. Due to operating system constraints, the only UTAP implementation to date has required a separate software interface layer, adding complexity and overhead to the overall system, while reducing portability. This thesis proposes a long term effort to design and implement UTAP-compliant application software devoid of this interface layer. Because the Ada programming language offers increased portability, and other software engineering benefits, emphasis is placed on developing a run-time infrastructure that will allow UTAP applications to be written in Ada. The first several steps of building this infrastructure is performed, including implementation of an Ada cross-compiler and real-time operating system. Further UTAP research is recommended. The run-time infrastructure should be completed and UTAP application software developed using the Ada95 tasking model. Recommendations for UTAP specification improvements are also made.

AFIT Designator

AFIT-GCS-ENG-96D-16

DTIC Accession Number

ADA323336

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