A Top-Down Approach to Managing Variability in Robotics Algorithms

One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of variability: algorithmic variability and lower-level variability. The consequence is that implementations of algorithms are hard to understand and impacted by changes to lower-level details such as the choice or configuration of sensors or actuators. Moreover, when several algorithms or algorithmic variants are available it is difficult to compare and combine them. In order to alleviate these problems we propose a top-down approach to express and implement robotics algorithms and families of algorithms so that they are both less dependent on lower-level details and easier to understand and combine. This approach goes top-down from the algorithms and shields them from lower-level details by introducing very high level abstractions atop the intermediate abstractions of robotics middleware. This approach is illustrated on 7 variants of the Bug family that were implemented using both laser and infra-red sensors.Comment: 6 pages, 5 figures, Presented at DSLRob 2013 (arXiv:cs/1312.5952

Cloud-based manufacturing-as-a-service environment for customized products

This paper describes the paradigm of cloud-based services which are used to envisage a new generation of configurable manufacturing systems. Unlike previous approaches to mass customization (that simply reprogram individual machines to produce specific shapes) the system reported here is intended to enable the customized production of technologically complex products by dynamically configuring a manufacturing supply chain. In order to realize such a system, the resources (i.e. production capabilities) have to be designed to support collaboration throughout the whole production network, including their adaption to customer-specific production. The flexible service composition as well as the appropriate IT services required for its realization show many analogies with common cloud computing approaches. For this reason, this paper describes the motivation and challenges that are related to cloud-based manufacturing and illustrates emerging technologies supporting this vision byestablishing an appropriate Manufacturing-as-a-Service environment based on manufacturing service descriptions

A Process Framework for Semantics-aware Tourism Information Systems

The growing sophistication of user requirements in tourism due to the advent of new technologies such as the Semantic Web and mobile computing has imposed new possibilities for improved intelligence in Tourism Information Systems (TIS). Traditional software engineering and web engineering approaches cannot suffice, hence the need to find new product development approaches that would sufficiently enable the next generation of TIS. The next generation of TIS are expected among other things to: enable semantics-based information processing, exhibit natural language capabilities, facilitate inter-organization exchange of information in a seamless way, and evolve proactively in tandem with dynamic user requirements. In this paper, a product development approach called Product Line for Ontology-based Semantics-Aware Tourism Information Systems (PLOSATIS) which is a novel hybridization of software product line engineering, and Semantic Web engineering concepts is proposed. PLOSATIS is presented as potentially effective, predictable and amenable to software process improvement initiatives

Human-automation collaboration in manufacturing: identifying key implementation factors

Human-automation collaboration refers to the concept of human operators and intelligent automation working together interactively within the same workspace without conventional physical separation. This concept has commanded significant attention in manufacturing because of the potential applications, such as the installation of large sub-assemblies. However, the key human factors relevant to human-automation collaboration have not yet been fully investigated. To maximise effective implementation and reduce development costs for future projects these factors need to be examined. In this paper, a collection of human factors likely to influence human-automation collaboration are identified from current literature. To test the validity of these and explore further factors associated with implementation success, different types of production processes in terms of stage of maturity are being explored via industrial case studies from the project’s stakeholders. Data was collected through a series of semi-structured interviews with shop floor operators, engineers, system designers and management personnel

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs

Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion on difficult terrains with real-time performance guarantees remains a challenge. We present here a real-time, dynamic foothold adaptation strategy based on visual feedback. Our method adjusts the landing position of the feet in a fully reactive manner, using only on-board computers and sensors. The correction is computed and executed continuously along the swing phase trajectory of each leg. To efficiently adapt the landing position, we implement a self-supervised foothold classifier based on a Convolutional Neural Network (CNN). Our method results in an up to 200 times faster computation with respect to the full-blown heuristics. Our goal is to react to visual stimuli from the environment, bridging the gap between blind reactive locomotion and purely vision-based planning strategies. We assess the performance of our method on the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe foothold adaptation is clearly demonstrated by the overall robot behavior.Comment: 9 pages, 11 figures. Accepted to RA-L + ICRA 2019, January 201

A front-end system to support cloud-based manufacturing of customised products

In today’s global market, customized products are amongst an important means to address diverse customer demand and in achieving a unique competitive advantage. Key enablers of this approach are existing product configuration and supporting IT-based manufacturing systems. As a proposed advancement, it considered that the development of a front-end system with a next level of integration to a cloud-based manufacturing infrastructure is able to better support the specification and on-demand manufacture of customized products. In this paper, a new paradigm of Manufacturing-as-a-Service (MaaS) environment is introduced and highlights the current research challenges in the configuration of customizable products. Furthermore, the latest development of the front-end system is reported with a view towards further work in the research

Ensuring Readability and Data-fidelity using Head-modifier Templates in Deep Type Description Generation

A type description is a succinct noun compound which helps human and machines to quickly grasp the informative and distinctive information of an entity. Entities in most knowledge graphs (KGs) still lack such descriptions, thus calling for automatic methods to supplement such information. However, existing generative methods either overlook the grammatical structure or make factual mistakes in generated texts. To solve these problems, we propose a head-modifier template-based method to ensure the readability and data fidelity of generated type descriptions. We also propose a new dataset and two automatic metrics for this task. Experiments show that our method improves substantially compared with baselines and achieves state-of-the-art performance on both datasets.Comment: ACL 201

KEMNAD: A Knowledge Engineering Methodology for Negotiating Agent Development

Automated negotiation is widely applied in various domains. However, the development of such systems is a complex knowledge and software engineering task. So, a methodology there will be helpful. Unfortunately, none of existing methodologies can offer sufficient, detailed support for such system development. To remove this limitation, this paper develops a new methodology made up of: (1) a generic framework (architectural pattern) for the main task, and (2) a library of modular and reusable design pattern (templates) of subtasks. Thus, it is much easier to build a negotiating agent by assembling these standardised components rather than reinventing the wheel each time. Moreover, since these patterns are identified from a wide variety of existing negotiating agents(especially high impact ones), they can also improve the quality of the final systems developed. In addition, our methodology reveals what types of domain knowledge need to be input into the negotiating agents. This in turn provides a basis for developing techniques to acquire the domain knowledge from human users. This is important because negotiation agents act faithfully on the behalf of their human users and thus the relevant domain knowledge must be acquired from the human users. Finally, our methodology is validated with one high impact system