Reliability of component based robot software depends on the quality of each component because any defective components will have a ripple effect on systems built with them. Thus, testing of unit component, composite component and component based robot software is critical for checking the correctness of the software functionality. This paper proposes Web-based automated black-box testing framework for component based robot software. The proposed framework provides automated testing service, testing for different robot platform and distributed test environment, and sharing test resources. We have implemented the proposed framework and evaluated it on the component based front guidance application to output a guidance statement by sensing front obstacles, and control robot wheels by sensing a back user.

Service gateways (SGs) are a promising approach to integrate wireless sensor and actuator networks (SANETs) with pervasive infrastructure over Internet by encapsulating distributed physical sensor and actuators into regular objects. Typically, SGs for SANETs are assumed to know operational environment in advance at design time with limited awareness of operational SANET conditions and, in the meanwhile, provide a single particular form of access without knowledge of application activities. As a SANET evolves, end users will frequently add sensor and actuator nodes (SANs) for additional services, remove defective or obsolescent SANs, and upgrade SANs in deployed SANETs. Therefore, traditional SGs are infeasible to integrate the future evolvable SANET (ESANET) with the pervasive infrastructure. In this paper, we introduce the reflective service gateway (RSG) architecture combined with ESANET management functions. RSG enables heterogeneous middleware systems to concurrently access ESANETs. In addition, by reflection mechanism where network management functions are explicitly reified and integrated into RSG so that it can learn the changing ESANET runtime environment, RSG self-adapts to ESANET dynamics and enables ESANETs to customize its activities according to application services involved. To validate the RSG, we have implemented the RSG and conducted empirical performance measurements with home sensor and actuator applications using ZigBee.

In this paper, the packet error rate of Zigbee under the interference of multiple Bluetooth networks is analyzed. The analytic model for the coexistence between ZigBee network and a Bluetooth network is presented, where the acknowledgement packets are considered. A numerical method is used for the interference of the multiple Bluetooth networks. The packet error rate (PER) is used for the performance measure. The PER is obtained from the bit error rate (BER) and the collision time. The BER is obtained from signal to noise and interference ratio. The simulation results are shown to validate the analysis.