Three-layered architecture for teleoperators and its module arrangement

In this paper, we propose an intelligent system architecture for teleoperators (e.g., planetary exploration rovers). Our proposed architecture offers advanced flexibility (variability), efficiency, scalability, and transparency. The architecture is composed of one hardware layer (bottom) and two software layers (middle and top). Because the software is divided into two layers, users are not required to actually connect the software modules. With this architecture, we aim to achieve both efficient task construction by the users and easy management of modules by the system. Moreover, to achieve high-speed data communication between software modules we use a shared memory. Using our proposed architecture, we can efficiently perform repairs and consequently enhance the functionality of teleoperator systems. Therefore, our proposed architecture can provide significant contributions to the development and operation of teleoperators.