A Model-Driven Engineering Approach for ROS using Ontological Semantics

This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies to facilitate the development and reuse of ROS-based components and applications. In ReApp, we show how different ontological classification systems for hardware, software, and capabilities help developers in discovering suitable software components for their tasks and in applying them correctly. The proposed model-driven tooling enables developers to work at higher abstraction levels and fosters automatic code generation. It is underpinned by ontologies to minimize discontinuities in the development workflow, with an integrated development environment presenting a seamless interface to the user. First results show the viability and synergy of the selected approach when searching for or developing software with reuse in mind.Comment: Presented at DSLRob 2015 (arXiv:1601.00877), Stefan Zander, Georg Heppner, Georg Neugschwandtner, Ramez Awad, Marc Essinger and Nadia Ahmed: A Model-Driven Engineering Approach for ROS using Ontological Semantic

automatic shape optimization of structural components with manufacturing constraints

Abstract Among optimization procedures, mesh morphing gained a relevant position: it proved to be a suitable tool in obtaining weight and stress concentration reduction, without the need to iterate the numerical model generation. Shape modification through mesh morphing can be performed in an automatic fashion adopting two approaches: defining parameters which will describe the modified shape or exploiting results coming from numerical analyses. With this second approach, it is possible to achieve a very high automation grade: stress values retrieved on component surfaces can be successfully employed to drive the shape modification of the component itself. This 'driven-by-numerical-results' automatic approach can lead to complex optimized shapes, which can be easily achieved with modern additive manufacturing processes, but not adopting traditional manufacturing processes. In the present work a method to include manufacturing constraints in a shape optimization workflow is presented and applied to different structural optimization cases, in order to demonstrate how even manufacturing based on traditional processes can take advantage of automatic shape optimization of structural components