Data Acquisition and Processing using a Service Oriented Architecture for an Automated Inspection System

Abstract

In this paper we present a service oriented architecture for distributed acquisition and fusion of sensor data. The architecture is designed to fit the special requirements of service and inspection robots. The requirements are motivated by an autonomous inspection system for sewer channels. The paper gives an overview of the underlying concepts of design including time-synchronization, data buffering and notification schemas. Two examples are given to illustrate the application in the context of sewer inspection.