Hierarchical Ada robot programming system (HARPS): a complete and working telerobot control system based on the NASREM model

HARPS is a telerobot control system that can perform some simple but useful tasks. This capability is demonstrated by performing the ORU Exchange Demo. HARPS is based on NASREM (NASA Standard Reference Model). The primary programming language for all software developed is Ada, and the project incorporated a number of different CASE (computer-aided software engineering) development tools. NASREM was found to be a valid and useful model for building a telerobot control system. Its hierarchical and distributed structure creates a very natural and logical flow for developing and implementing large, complex, and robust control systems. The ability of Ada to create and enforce abstraction enhanced the implementation of such control systems. The CASE tools utilized showed some promise in helping to design a large system that processed a very large amount of data involving very complex computations and relationships. An overview of NASREM, the ORU Exchange Demo, the HARPS system, and the development tools used in HARPS is given