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

AiiDA: Automated Interactive Infrastructure and Database for Computational Science

Computational science has seen in the last decades a spectacular rise in the scope, breadth, and depth of its efforts. Notwithstanding this prevalence and impact, it is often still performed using the renaissance model of individual artisans gathered in a workshop, under the guidance of an established practitioner. Great benefits could follow instead from adopting concepts and tools coming from computer science to manage, preserve, and share these computational efforts. We illustrate here our paradigm sustaining such vision, based around the four pillars of Automation, Data, Environment, and Sharing. We then discuss its implementation in the open-source AiiDA platform (http://www.aiida.net), that has been tuned first to the demands of computational materials science. AiiDA's design is based on directed acyclic graphs to track the provenance of data and calculations, and ensure preservation and searchability. Remote computational resources are managed transparently, and automation is coupled with data storage to ensure reproducibility. Last, complex sequences of calculations can be encoded into scientific workflows. We believe that AiiDA's design and its sharing capabilities will encourage the creation of social ecosystems to disseminate codes, data, and scientific workflows.Comment: 30 pages, 7 figure

UK Research Information Shared Service (UKRISS) Final Report, July 2014

The reporting of research information is a complex and expensive activity for research organisations (ROs). There is little alignment between funders of the reporting requests made to institutions and requests made to individual researchers about their research outputs and outcomes. This inevitably results in duplication and increased costs across the sector, whilst limiting the potential sharing and reuse of the information. The UK Research Information Shared Service (UKRISS) project conducted a feasibility and scoping study for the reporting of research information at a national level based on CERIF (Common European Research Information Format), with the objective of increasing efficiency, productivity and quality across the sector. The aim was to define and prototype solutions which are compelling, easy to use, have a low entry barrier, and support innovative information sharing and benchmarking. CERIF has emerged as the preferred format for expressing research information across Europe. To date, CERIF has been piloted for specific applications, but not as a format for reporting requirements across all UK ROs. The final report presents the work carried out by the UKRISS project, including requirements gathering, modelling and prototyping, as well as recommendation for sustainability. UKRISS was divided into two phases. Phase 1, mapping the reporting landscape, ran from March 2012 to December 2012. Phase 2, exploring delivery of potential solutions, began in February 2013 and ended in December 2013