{"id":"https://openalex.org/W2002926560","doi":"https://doi.org/10.1109/rose.2012.6402632","title":"Taking control: Modular and adaptive robotics process control systems","display_name":"Taking control: Modular and adaptive robotics process control systems","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2002926560","doi":"https://doi.org/10.1109/rose.2012.6402632","mag":"2002926560"},"language":"en","primary_location":{"id":"doi:10.1109/rose.2012.6402632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2012.6402632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087099408","display_name":"Peter Ulbrich","orcid":"https://orcid.org/0000-0002-4224-9205"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Peter Ulbrich","raw_affiliation_strings":["Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041949030","display_name":"Florian Franzmann","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Franzmann","raw_affiliation_strings":["Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038498392","display_name":"Christian Harkort","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Harkort","raw_affiliation_strings":["Chair of Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044843272","display_name":"Martin Hoffmann","orcid":"https://orcid.org/0000-0001-9420-022X"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Hoffmann","raw_affiliation_strings":["Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028499662","display_name":"Tobias Klaus","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Klaus","raw_affiliation_strings":["Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059724068","display_name":"Anja Rebhan","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anja Rebhan","raw_affiliation_strings":["Chair of Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078254306","display_name":"Wolfgang Schr\u00f6der\u2010Preikschat","orcid":"https://orcid.org/0000-0002-5216-2103"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfgang Schroder-Preikschat","raw_affiliation_strings":["Friedrich-Alexander-Universitat Erlangen-Nurnberg, Erlangen, Bayern, DE","Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany"],"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universitat Erlangen-Nurnberg, Erlangen, Bayern, DE","institution_ids":["https://openalex.org/I181369854"]},{"raw_affiliation_string":"Distributed Systems and Operating Systems, Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5087099408"],"corresponding_institution_ids":["https://openalex.org/I181369854"],"apc_list":null,"apc_paid":null,"fwci":0.5855,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65982272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"55","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7325305342674255},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6989695429801941},{"id":"https://openalex.org/keywords/instrumentation-and-control-engineering","display_name":"Instrumentation and control engineering","score":0.6568083763122559},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6546632051467896},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.616439163684845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5846273899078369},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5779722929000854},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5505813956260681},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47810620069503784},{"id":"https://openalex.org/keywords/process-control","display_name":"Process control","score":0.4729178547859192},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.441441148519516},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43626174330711365},{"id":"https://openalex.org/keywords/real-time-control-system","display_name":"Real-time Control System","score":0.42958569526672363},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.4174528419971466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41013067960739136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4020248055458069},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2959052324295044}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7325305342674255},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6989695429801941},{"id":"https://openalex.org/C21592077","wikidata":"https://www.wikidata.org/wiki/Q1922526","display_name":"Instrumentation and control engineering","level":4,"score":0.6568083763122559},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6546632051467896},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.616439163684845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5846273899078369},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5779722929000854},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5505813956260681},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47810620069503784},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.4729178547859192},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.441441148519516},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43626174330711365},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.42958569526672363},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.4174528419971466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41013067960739136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4020248055458069},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2959052324295044},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/rose.2012.6402632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2012.6402632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.366.5013","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.366.5013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www4.cs.fau.de/Publications/2012/ulbrich_12_rose.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W207977670","https://openalex.org/W1507151009","https://openalex.org/W1579438189","https://openalex.org/W1691275141","https://openalex.org/W2010905516","https://openalex.org/W2061018558","https://openalex.org/W2067722023","https://openalex.org/W2090161303","https://openalex.org/W2096763837","https://openalex.org/W2097089521","https://openalex.org/W2105934661","https://openalex.org/W2119699246","https://openalex.org/W2122768161","https://openalex.org/W2134119432","https://openalex.org/W2134170660","https://openalex.org/W2145742460","https://openalex.org/W2165943338","https://openalex.org/W2207832021","https://openalex.org/W2592951924","https://openalex.org/W4285719527","https://openalex.org/W6608542696"],"related_works":["https://openalex.org/W2380944657","https://openalex.org/W2033608749","https://openalex.org/W2638730922","https://openalex.org/W2524393340","https://openalex.org/W4255324863","https://openalex.org/W2089279706","https://openalex.org/W2676854057","https://openalex.org/W2350474529","https://openalex.org/W2548212430","https://openalex.org/W2513937777"],"abstract_inverted_index":{"Robotics":[0],"systems":[1,8,16,33],"usually":[2],"comprise":[3],"sophisticated":[4],"sensor":[5,168],"and":[6,22,24,47,56,82,144,159,178,216],"actuator":[7],"with":[9,226],"no":[10,169],"less":[11],"complex":[12],"control":[13,60,63,68,107,130,142,191,223],"applications.":[14],"These":[15],"are":[17,34,85],"subject":[18],"to":[19,26,28,36,188,219],"frequent":[20],"modifications":[21],"extensions":[23],"have":[25],"adapt":[27],"their":[29,45],"environment.":[30],"While":[31],"automation":[32],"tailored":[35],"particular":[37],"production":[38],"processes,":[39],"autonomous":[40,205],"vehicles":[41],"must":[42],"adaptively":[43],"switch":[44],"sensors":[46],"controllers":[48],"depending":[49],"on":[50,66,127,224],"environmental":[51],"conditions.":[52],"However,":[53],"when":[54],"designing":[55],"implementing":[57],"the":[58,67,79,89,102,138,164,172,181,189,201,217,227],"process":[59,106,190],"system,":[61],"traditional":[62],"theory":[64],"focuses":[65],"problem":[69],"at":[70,115,121],"hand":[71],"without":[72],"having":[73],"this":[74,94],"variability":[75,114],"in":[76,153],"mind.":[77],"Thus,":[78],"resulting":[80],"models":[81],"implementation":[83],"artefacts":[84],"monolithic,":[86],"additionally":[87],"complicating":[88],"real-time":[90],"system":[91,192],"design.":[92,230],"In":[93],"paper,":[95],"we":[96],"present":[97],"a":[98,128,167],"modularisation":[99],"approach":[100,124,199],"for":[101,113,119],"design":[103],"of":[104,151,155,166,175,184,203,214,222],"robotics":[105],"systems,":[108],"which":[109,132],"not":[110],"only":[111],"aims":[112],"design-time":[116],"but":[117],"also":[118],"adaptivity":[120],"run-time.":[122],"Our":[123,147,209],"is":[125],"based":[126],"layered":[129],"architecture,":[131],"includes":[133],"an":[134,204],"explicit":[135],"interface":[136],"between":[137],"two":[139],"domains":[140],"involved:":[141],"engineering":[143],"computer":[145],"science.":[146],"architecture":[148],"provides":[149],"separation":[150],"concerns":[152],"terms":[154],"independent":[156],"building":[157],"blocks":[158],"data":[160],"flows.":[161],"For":[162],"example,":[163],"replacement":[165],"longer":[170],"involves":[171],"tedious":[173],"modification":[174],"downstream":[176],"filters":[177],"controllers.":[179],"Likewise,":[180],"error-prone":[182],"mapping":[183],"high-level":[185],"application":[186],"behaviour":[187],"can":[193],"be":[194],"omitted.":[195],"We":[196],"validated":[197],"our":[198],"by":[200],"example":[202],"vehicle":[206],"use":[207,215],"case.":[208],"experimental":[210],"results":[211],"demonstrate":[212],"ease":[213],"capability":[218],"maintain":[220],"quality":[221],"par":[225],"original":[228],"monolithic":[229]},"counts_by_year":[{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}