Estrategias de diseño basadas en patrones de un subsistema de movimiento para un robot pulverizador

The cyber physical systems (SCF) are a new field of knowledge, involving the electrical, electronics, computer engineering control and communications, and interact with physical processes. A key aspect in the development of cyber physical systems, modeling whole problem, the environment and the entities involved. In this paper the development of cyber- physical systems deepens from the point of view of design patterns, expanding its original definition to encompass aspects of the physical world, the software and hardware that comprise it. In particular, a standard for the design of a subsystem in a mobile robot motion is presented. The theoretical case is exemplified by the implementation of this model in a robot built to carry out fumigation in greenhouses, which was based on ROS (Robot Operating System).