77,287 research outputs found
Code Generator Composition for Model-Driven Engineering of Robotics Component & Connector Systems
Engineering software for robotics applications requires multidomain and
application-specific solutions. Model-driven engineering and modeling language
integration provide means for developing specialized, yet reusable models of
robotics software architectures. Code generators transform these platform
independent models into executable code specific to robotic platforms.
Generative software engineering for multidomain applications requires not only
the integration of modeling languages but also the integration of validation
mechanisms and code generators. In this paper we sketch a conceptual model for
code generator composition and show an instantiation of this model in the
MontiArc- Automaton framework. MontiArcAutomaton allows modeling software
architectures as component and connector models with different component
behavior modeling languages. Effective means for code generator integration are
a necessity for the post hoc integration of applicationspecific languages in
model-based robotics software engineering.Comment: 12 pages, 4 figures, In: Proceedings of the 1st International
Workshop on Model-Driven Robot Software Engineering (MORSE 2014), York, Great
Britain, Volume 1319 of CEUR Workshop Proceedings, 201
V3CMM: a 3-view component meta-model for model-driven robotic software development
There are many voices in the robotics community demanding a qualitative improvement in the robotics software development process and tools, in order to increase product flexibility, adaptability, and overall quality, while reducing its cost and time-to-market. This article describes a first step towards a model-driven approach to robotics software development, based on the definition of highly reusable and platform-independent component-based design models. The proposed approach revolves around the V3CMM modeling language and the definition of different model transformations for deriving both special purpose models (e.g., models suited for analysis or simulation purposes) and lower-level design models, in which platform-specific and application-dependent details can be progressively included. The article describes the tool-chain implemented to support the different stages of the proposed MDE process, including (1) the definition of component-based architectural models, defined using the V3CMM platform-independent modeling language, (2) the automatic transformation of the V3CMM component-based models into equivalent object-oriented designs, described in terms of the UML standard, and (3) the transformation of the UML models into an the Ada 2005 object-oriented programming language. In order to show the feasibility and the benefits of the proposal, a simple (yet complete) case study regarding the design of a Cartesian robot is presented.This research has been funded by the Spanish CICYT
Project EXPLORE (ref. TIN2009-08572), the Fundación Séneca Regional
Project COMPAS-R (ref. 11994/PI/09), and the Spanish Research Network
on Model-Driven Software Development (ref. TIN2008-00889-E)
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
SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems
The recent drive towards achieving greater autonomy and intelligence in
robotics has led to high levels of complexity. Autonomous robots increasingly
depend on third party off-the-shelf components and complex machine-learning
techniques. This trend makes it challenging to provide strong design-time
certification of correct operation.
To address these challenges, we present SOTER, a robotics programming
framework with two key components: (1) a programming language for implementing
and testing high-level reactive robotics software and (2) an integrated runtime
assurance (RTA) system that helps enable the use of uncertified components,
while still providing safety guarantees. SOTER provides language primitives to
declaratively construct a RTA module consisting of an advanced,
high-performance controller (uncertified), a safe, lower-performance controller
(certified), and the desired safety specification. The framework provides a
formal guarantee that a well-formed RTA module always satisfies the safety
specification, without completely sacrificing performance by using higher
performance uncertified components whenever safe. SOTER allows the complex
robotics software stack to be constructed as a composition of RTA modules,
where each uncertified component is protected using a RTA module.
To demonstrate the efficacy of our framework, we consider a real-world
case-study of building a safe drone surveillance system. Our experiments both
in simulation and on actual drones show that the SOTER-enabled RTA ensures the
safety of the system, including when untrusted third-party components have bugs
or deviate from the desired behavior
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