{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:09:57Z","timestamp":1761487797057,"version":"3.38.0"},"reference-count":32,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1998,4,1]],"date-time":"1998-04-01T00:00:00Z","timestamp":891388800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,4]]},"abstract":"<jats:p> Real-time system software is notoriously complex. Large projects must balance the special needs of real-time software\u2014such as clock management, control systems, and strategy\u2014with the needs of in teracting teams of programmers, managers, and long-term main tenance personnel. Successful projects require a solid software architecture, an intuitive graphical programming paradigm, a well- developed reuse system, and powerful system services. <\/jats:p><jats:p> This paper walks through the methodology and application of ControlShell, the component-based real-time programming system. ControlShell provides an integrated development environment for building complex electromechanical systems. It targets complex systems that require both cyclic data processing and strategic event management and sequencing. <\/jats:p><jats:p> ControlShell is specifically designed to facilitate team develop ment of complex electromechanical systems. Teams must share and reuse code; ControlShell provides component-level code shar ing and reuse. Complex systems require flexibility; ControlShell gains flexibility by supporting independent module-level code gen eration. Large systems are most easily designed as independent parts; ControlShell encourages easy interconnectivity of objects. Finally, complex systems are modal; ControlShellfeatures a unique configuration-control system for changing operating modes. <\/jats:p><jats:p> The paper concludes by examining the application of this frame work to a dual-arm robotic work cell, a subsystem of the Space Shuttle Launch Processing System, and an underwater autonomous vehicle. <\/jats:p>","DOI":"10.1177\/027836499801700404","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"360-380","source":"Crossref","is-referenced-by-count":22,"title":["ControlShell: A Software Architecture for Complex Electromechanical Systems"],"prefix":"10.1177","volume":"17","author":[{"given":"Stanley A.","family":"Schneider","sequence":"first","affiliation":[{"name":"Real-Time Innovations, Inc. 155A Moffett Park Drive Sunnyvale, CA 94089 USA http:\/www.rti.com"}]},{"given":"Vincent W.","family":"Chen","sequence":"additional","affiliation":[{"name":"Real-Time Innovations, Inc. 155A Moffett Park Drive Sunnyvale, CA 94089 USA http:\/www.rti.com"}]},{"given":"Gerardo","family":"Pardo-Castellote","sequence":"additional","affiliation":[{"name":"Real-Time Innovations, Inc. 155A Moffett Park Drive Sunnyvale, CA 94089 USA http:\/www.rti.com"}]},{"given":"Howard H.","family":"Wang","sequence":"additional","affiliation":[{"name":"Real-Time Innovations, Inc. 155A Moffett Park Drive Sunnyvale, CA 94089 USA http:\/www.rti.com"}]}],"member":"179","published-online":{"date-parts":[[1998,4,1]]},"reference":[{"volume-title":"Proc. of the IEEE","author":"Boussinot, F.","key":"atypb1"},{"volume-title":"Experiments in adaptive control of multiple cooperating manipulators on a free-flying space robot","year":"1992","author":"Chen, V.","key":"atypb2"},{"key":"atypb3","unstructured":"Cheriton, D. n.d. 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