{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T19:06:04Z","timestamp":1776107164479,"version":"3.50.1"},"reference-count":20,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2013,1,15]],"date-time":"2013-01-15T00:00:00Z","timestamp":1358208000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2013,10]]},"DOI":"10.1007\/s10846-012-9798-y","type":"journal-article","created":{"date-parts":[[2013,1,14]],"date-time":"2013-01-14T08:08:56Z","timestamp":1358150936000},"page":"5-19","source":"Crossref","is-referenced-by-count":7,"title":["A Structured Approach for Modular Design in Robotics and Automation Environments"],"prefix":"10.1007","volume":"72","author":[{"given":"Ayssam","family":"Elkady","sequence":"first","affiliation":[]},{"given":"Jovin","family":"Joy","sequence":"additional","affiliation":[]},{"given":"Tarek","family":"Sobh","sequence":"additional","affiliation":[]},{"given":"Kimon","family":"Valavanis","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,1,15]]},"reference":[{"key":"9798_CR1","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)"},{"key":"9798_CR2","series-title":"Springer Tracts in Advanced Robotics, ch. 3","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1007\/978-3-540-68951-5_3","volume-title":"Software Engineering for Experimental Robotics. ser","author":"I Nesnas","year":"2007","unstructured":"Nesnas, I.: The claraty project: coping with hardware and software heterogeneity. In: Brugali, D. (ed.) Software Engineering for Experimental Robotics. ser. Springer Tracts in Advanced Robotics, vol. 30, ch. 3, pp. 31\u201370. Springer, Berlin, Heidelberg (2007)"},{"key":"9798_CR3","unstructured":"Collett, T.H., MacDonald, B.A., Gerkey, B.P.: Player 2.0: toward a practical robot programming framework. In: Proc. of the Australasian Conf. on Robotics and Automation (ACRA). Sydney, Australia (2005)"},{"issue":"4","key":"9798_CR4","doi-asserted-by":"crossref","first-page":"493","DOI":"10.1109\/TRA.2002.802930","volume":"18","author":"H Utz","year":"2002","unstructured":"Utz, H., Sablatnog, S., Enderle, S., Kraetzschmar, G.: Miro-middleware for mobile robot applications. IEEE Trans. Robot. Autom. 18(4), 493\u2013497 (2002)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9798_CR5","first-page":"39","volume":"1","author":"O Michel","year":"2004","unstructured":"Michel, O.: Webots: professional mobile robot simulation. J. Adv. Robot. Syst. 1, 39\u201342 (2004)","journal-title":"J. Adv. Robot. Syst."},{"key":"9798_CR6","unstructured":"Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., Yoon, W.-K.: RT-component object model in RT-middleware\u2013distributed component middleware for RT (Robot Technology). In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2005, (IROS 2005), vol. 2\u20136, pp. 3933\u20133938 (2005)"},{"key":"9798_CR7","unstructured":"Schlegel, C., Hassler, T., Lotz, A., Steck, A.: Robotic software systems: from code-driven to model-driven designs. In: International Conference on Advanced Robotics, 2009, ICAR 2009, vol. 22\u201326, pp. 1\u20138 (2009)"},{"key":"9798_CR8","unstructured":"ERSP 3.1 software development kit: Online: http:\/\/www.evolution.com\/products\/ersp\/ (2010)"},{"key":"9798_CR9","unstructured":"Alexei Makarenko, A.B., Kaupp, T.: On the benefits of making robotic software frameworks thin. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201907), 29 Oct.\u201302 Nov. 2007. San Diego CA, USA (2007)"},{"key":"9798_CR10","doi-asserted-by":"crossref","first-page":"646","DOI":"10.4218\/etrij.10.1510.0138","volume":"32","author":"C Jang","year":"2010","unstructured":"Jang, C., Lee, S.-I., Jung, S.-W., Song, B., Kim, R., Kim, S., Lee, C.-H.: OPROS: a new component-based robot software platform. ETRI J. 32, 646\u2013656 (2010)","journal-title":"ETRI J."},{"issue":"4","key":"9798_CR11","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1109\/M-RA.2007.905745","volume":"14","author":"J Jackson","year":"2007","unstructured":"Jackson, J.: Microsoft robotics studio: a technical introduction. IEEE Robot. Autom. Mag. 14(4), 82\u201387 (2007)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"9798_CR12","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1007\/s10514-006-9013-8","volume":"22","author":"J Kramer","year":"2007","unstructured":"Kramer, J., Scheutz, M.: Development environments for autonomous mobile robots: a survey. Autonomous Robots 22(2), 101\u2013132 (2007)","journal-title":"Autonomous Robots"},{"key":"9798_CR13","doi-asserted-by":"crossref","unstructured":"Mohamed, N., Al-Jaroodi, J., Jawhar, I.: Middleware for robotics: a survey. In: 2008 IEEE Conference on Robotics, Automation and Mechatronics, 21\u201324 Sept., pp. 736\u2013742 (2008)","DOI":"10.1109\/RAMECH.2008.4681485"},{"issue":"5","key":"9798_CR14","first-page":"139","volume":"9","author":"N Mohamed","year":"2009","unstructured":"Mohamed, N., Al-Jaroodi, J., Jawhar, I.: A review of middleware for networked robots. Intl. Journal of Computer Science and Network Security 9(5), 139\u2013148 (2009)","journal-title":"Intl. Journal of Computer Science and Network Security"},{"key":"9798_CR15","unstructured":"Namoshe, M., Tlale, N., Kumile, C., Bright, G.: Open middleware for robotics. In: 15th International Conference on Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008, 2\u20134 Dec., 189\u2013194 (2008)"},{"key":"9798_CR16","first-page":"15","volume":"2012","author":"A Elkady","year":"2008","unstructured":"Elkady, A., Sobh, T.: Robotics middleware: a comprehensive literature survey and attribute-based bibliography. J. Robot. 2012, 15 (2012). doi: 10.1155\/2012\/959013","journal-title":"J. Robot"},{"key":"9798_CR17","doi-asserted-by":"crossref","unstructured":"Elkady, A., Joy, J., Sobh, T.: A plug and play middleware for sensory modules, actuation platforms and task descriptions in robotic manipulation platforms. In: Submitted to Proc. 2011 ASME International Design Engineering Technical Conf. and Computers and Information in Engineering Conf. (IDETC\/CIE \u201911) (2011)","DOI":"10.1115\/DETC2011-47185"},{"key":"9798_CR18","unstructured":"Swig: Website. http:\/\/www.swig.org\/ (2011)"},{"key":"9798_CR19","unstructured":"Hohpe, G., Woolf, B.: Enterprise Integration Patterns: Designing, Building, and Deploying Messaging Solutions. Addison-Wesley Professional (2003)"},{"key":"9798_CR20","author":"A Elkady","year":"2010","unstructured":"Elkady, A., Babariya, V., Joy, J., Sobh, T.: Modular design and implementation for a sensory-driven mobile manipulation framework. J. Intell. Robot. Syst. 1\u201327 (2010). doi: 10.1007\/s10846-010-9454-3","journal-title":"J. Intell. Robot. Syst."}],"updated-by":[{"DOI":"10.1007\/s10846-013-9972-x","type":"correction","label":"Correction","source":"publisher","updated":{"date-parts":[[2013,10,3]],"date-time":"2013-10-03T00:00:00Z","timestamp":1380758400000}}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9798-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-012-9798-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9798-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,8]],"date-time":"2019-07-08T07:40:32Z","timestamp":1562571632000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-012-9798-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,1,15]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,10]]}},"alternative-id":["9798"],"URL":"https:\/\/doi.org\/10.1007\/s10846-012-9798-y","relation":{"correction":[{"id-type":"doi","id":"10.1007\/s10846-013-9972-x","asserted-by":"object"}]},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,1,15]]}}}