Building Blocks for Control System Software

Software implementation of control laws for industrial systems seem straightforward, but is not. The computer code stemming from the control laws is mostly not more than 10 to 30% of the total. A building-block approach for embedded control system development is advocated to enable a fast and efficient software design process.\ud We have developed the CTJ library, Communicating Threads for Java¿,\ud resulting in fundamental elements for creating building blocks to implement communication using channels. Due to the simulate-ability, our building block method is suitable for a concurrent engineering design approach. Furthermore, via a stepwise refinement process, using verification by simulation, the implementation trajectory can be done efficiently

Realising the open virtual commissioning of modular automation systems

To address the challenges in the automotive industry posed by the need to rapidly manufacture more product variants, and the resultant need for more adaptable production systems, radical changes are now required in the way in which such systems are developed and implemented. In this context, two enabling approaches for achieving more agile manufacturing, namely modular automation systems and virtual commissioning, are briefly reviewed in this contribution. Ongoing research conducted at Loughborough University which aims to provide a modular approach to automation systems design coupled with a virtual engineering toolset for the (re)configuration of such manufacturing automation systems is reported. The problems faced in the virtual commissioning of modular automation systems are outlined. AutomationML - an emerging neutral data format which has potential to address integration problems is discussed. The paper proposes and illustrates a collaborative framework in which AutomationML is adopted for the data exchange and data representation of related models to enable efficient open virtual prototype construction and virtual commissioning of modular automation systems. A case study is provided to show how to create the data model based on AutomationML for describing a modular automation system

Sensemaking Practices in the Everyday Work of AI/ML Software Engineering

This paper considers sensemaking as it relates to everyday software engineering (SE) work practices and draws on a multi-year ethnographic study of SE projects at a large, global technology company building digital services infused with artificial intelligence (AI) and machine learning (ML) capabilities. Our findings highlight the breadth of sensemaking practices in AI/ML projects, noting developers' efforts to make sense of AI/ML environments (e.g., algorithms/methods and libraries), of AI/ML model ecosystems (e.g., pre-trained models and "upstream"models), and of business-AI relations (e.g., how the AI/ML service relates to the domain context and business problem at hand). This paper builds on recent scholarship drawing attention to the integral role of sensemaking in everyday SE practices by empirically investigating how and in what ways AI/ML projects present software teams with emergent sensemaking requirements and opportunities

FESTivE: an information system method to improve product designers and environmental experts information exchanges

Effective collaboration between product designers and environmental experts is an important driver for the ecodesign practice in industry. This paper investigates the principal functions required for such an e ective collaboration and aims at facilitating them. Product designers should be able to integrate the environmental parameters into their activities, and to exchange information dynamically with the environmental expert whenever needed during the design process. Therefore, the IT system should be in itself dynamic and exible to the integration of new concepts (knowledge, software). Recent developments in Model Driven Engineering (MDE) are showing some interesting results to gain exibility and dynamism in the IT system. Combining software interoperability using model federation based on MDE with the speci city of ecodesign practice in industry this paper proposes the FESTivE method for Federate EcodeSign Tool modEls. Experimented in two different industrial contexts the practical feasibility of FESTivE has been validated with practitioners. Results on the e ects of using FESTivE in industry shows that product designers and environmental experts are more equipped to anticipate and to respond to each other's needs at each stage of the design process of product or service

Analysis and Observations from the First Amazon Picking Challenge

This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency and throughput while lowering cost. We report on a 28-question survey posed to the teams to learn about each team's background, mechanism design, perception apparatus, planning and control approach. We identify trends in this data, correlate it with each team's success in the competition, and discuss observations and lessons learned based on survey results and the authors' personal experiences during the challenge

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