Design And Implementation Of Software Framework For Maintain Of Unmanned Remote Autonomy System

With the rapid progress in science and technology and the development of the society, there is an growing application of unmanned autonomy systems, such as interstellar explorer, unmanned scout and under sea robot, characterized as long distance, unreachable, high expense and of critical mission.This paper presents a Hammer software framework to solve the maintain and monitor of remote unmanned autonomy systems. On the basis of Java 2, intergraded with the most recent progress of language, virtual machine, software architecture and tools in JAVA, the Hammer software framework can be used for remote maintain, remote monitor, remote control, remote asynchronous debug and self-evolving. Some techniques are used to improve the extendibility of Hammer such as JVMTI based runtime monitor and control, RUDP based soft bus, centered monitor controller, self-monitor and task manager. Dynamic runtime code replacement, task model of 'plan-execute-monitor', micro reboot and self-evolving are also employed to improve the reliability of Hammer., and version validation and rollback to improve the validity of maintains.Hammer can be tailored for different purpose.