Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study

Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users

An extensible manufacturing resource model for process integration

Driven by industrial needs and enabled by process technology and information technology, enterprise integration is rapidly shifting from information integration to process integration to improve overall performance of enterprises. Traditional resource models are established based on the needs of individual applications. They cannot effectively serve process integration which needs resources to be represented in a unified, comprehensive and flexible way to meet the needs of various applications for different business processes. This paper looks into this issue and presents a configurable and extensible resource model which can be rapidly reconfigured and extended to serve for different applications. To achieve generality, the presented resource model is established from macro level and micro level. A semantic representation method is developed to improve the flexibility and extensibility of the model

An Approach to Agent-Based Service Composition and Its Application to Mobile

This paper describes an architecture model for multiagent systems that was developed in the European project LEAP (Lightweight Extensible Agent Platform). Its main feature is a set of generic services that are implemented independently of the agents and can be installed into the agents by the application developer in a flexible way. Moreover, two applications using this architecture model are described that were also developed within the LEAP project. The application domain is the support of mobile, virtual teams for the German automobile club ADAC and for British Telecommunications

Extensible Component Based Architecture for FLASH, A Massively Parallel, Multiphysics Simulation Code

FLASH is a publicly available high performance application code which has evolved into a modular, extensible software system from a collection of unconnected legacy codes. FLASH has been successful because its capabilities have been driven by the needs of scientific applications, without compromising maintainability, performance, and usability. In its newest incarnation, FLASH3 consists of inter-operable modules that can be combined to generate different applications. The FLASH architecture allows arbitrarily many alternative implementations of its components to co-exist and interchange with each other, resulting in greater flexibility. Further, a simple and elegant mechanism exists for customization of code functionality without the need to modify the core implementation of the source. A built-in unit test framework providing verifiability, combined with a rigorous software maintenance process, allow the code to operate simultaneously in the dual mode of production and development. In this paper we describe the FLASH3 architecture, with emphasis on solutions to the more challenging conflicts arising from solver complexity, portable performance requirements, and legacy codes. We also include results from user surveys conducted in 2005 and 2007, which highlight the success of the code.Comment: 33 pages, 7 figures; revised paper submitted to Parallel Computin

Kronos: a workflow assembler for genome analytics and informatics.

BackgroundThe field of next-generation sequencing informatics has matured to a point where algorithmic advances in sequence alignment and individual feature detection methods have stabilized. Practical and robust implementation of complex analytical workflows (where such tools are structured into "best practices" for automated analysis of next-generation sequencing datasets) still requires significant programming investment and expertise.ResultsWe present Kronos, a software platform for facilitating the development and execution of modular, auditable, and distributable bioinformatics workflows. Kronos obviates the need for explicit coding of workflows by compiling a text configuration file into executable Python applications. Making analysis modules would still require programming. The framework of each workflow includes a run manager to execute the encoded workflows locally (or on a cluster or cloud), parallelize tasks, and log all runtime events. The resulting workflows are highly modular and configurable by construction, facilitating flexible and extensible meta-applications that can be modified easily through configuration file editing. The workflows are fully encoded for ease of distribution and can be instantiated on external systems, a step toward reproducible research and comparative analyses. We introduce a framework for building Kronos components that function as shareable, modular nodes in Kronos workflows.ConclusionsThe Kronos platform provides a standard framework for developers to implement custom tools, reuse existing tools, and contribute to the community at large. Kronos is shipped with both Docker and Amazon Web Services Machine Images. It is free, open source, and available through the Python Package Index and at https://github.com/jtaghiyar/kronos

CloudSim Express: A Novel Framework for Rapid Low Code Simulation of Cloud Computing Environments

Cloud computing environment simulators enable cost-effective experimentation of novel infrastructure designs and management approaches by avoiding significant costs incurred from repetitive deployments in real Cloud platforms. However, widely used Cloud environment simulators compromise on usability due to complexities in design and configuration, along with the added overhead of programming language expertise. Existing approaches attempting to reduce this overhead, such as script-based simulators and Graphical User Interface (GUI) based simulators, often compromise on the extensibility of the simulator. Simulator extensibility allows for customization at a fine-grained level, thus reducing it significantly affects flexibility in creating simulations. To address these challenges, we propose an architectural framework to enable human-readable script-based simulations in existing Cloud environment simulators while minimizing the impact on simulator extensibility. We implement the proposed framework for the widely used Cloud environment simulator, the CloudSim toolkit, and compare it against state-of-the-art baselines using a practical use case. The resulting framework, called CloudSim Express, achieves extensible simulations while surpassing baselines with over a 71.43% reduction in code complexity and an 89.42% reduction in lines of code