Evaluación y desarrollo incremental de una arquitectura software de referencia para sistemas de teleoperación utilizando métodos formales

[SPA] Los sistemas de teleoperación cubren una amplísima gama de misiones y mecanismos, y cada uno de ellos debe satisfacer una serie de requisitos muy específicos. Este trabajo de tesis se ocupa de la evaluación y re-diseño de una Arquitectura de Referencia para sistemas de teleoperación de robots de servicios, utilizando respectivamente los métodos ATAM (Architecture Tradeoff Analysis Method) y ABD (Architecture Based Design). Entre las principales aportaciones de la tesis pueden mencionarse: - La caracterización de los atributos de calidad de los sistemas considerados. - La evaluación de una arquitectura de referencia utilizando el método ATAM. - La propuesta de una nueva descomposición funcional para los sistemas considerados. - La especificación de requisitos para un modelo de componentes aplicable a este tipo de sistemas. Las principales conclusiones del trabajo de tesis pueden resumirse en. - Deben adoptarse estrategias de diseño e implementación que permitan separar por un lado los patrones de interacción entre componentes de su funcionalidad y por otro los diferentes aspectos de dicha funcionalidad. - Es mucho más interesante definir un marco de desarrollo en el que puedan definirse diferentes arquitecturas que intentar definir una sola arquitectura para todo el dominio. [ENG]Teleoperation systems cover a wide range of missions and mechanisms, and each must satisfy a number of specific requirements. The thesis deals with the evaluation and redesign of a reference architecture for robot tele-operation systems, using respectively the methods ATAM (Architecture Tradeoff Analysis Method) and ABD (Architecture Based Design). Among the main contributions of the thesis may be included: - Characterization of quality attributes of the teleoperation systems. - Assessment of a reference architecture using the ATAM method. - A functional decomposition for the considered systems - A requirement specification for a component model applicable to teleoperation systems. The main design drivers for the development of software architectures in the teleoperation are to provide designers with strategies that separate the patterns of interaction between components from their functionality. These strategies should be the basis to define a development framework to define specific architectures aimed to fulfill the specific requirements of the different systems. It is much more interesting to develop such a framework that to attempt to define a single architecture for the entire domain.Universidad Politécnica de Cartagen

Real Time Teaching with Java: JPR3

This paper describes a development platform built around a digital railroad scale{model: JPR3 (Java Platform for Realtime Railway Research). The laboratory equipment and software aims to achieve two goals: help and motivate students of real{time systems and as support for postgraduate students. Students nd the scale{model really challenging and are very motivated by it; thus it's easy for them to really learn and practice all the concepts of real{time systems. But it's not only for students use: it also serves as a research platform for postgraduate students, thanks to the possibilities o ered by the scale{model. Java has been chosen as the programming language codify the platform and the implementation of the system is described in this work.This work was supported in part by the Spanish Ministry of Education (with reference ACF2000{0037{IN) and the Regional Government of Murcia (Séneca Programmes with reference PB/8/FS/02

A systematic approach to developing safe tele-operated robots

Tele–operated service robots are used for extending human capabilities in hazardous and/or inaccessible environments. Their use is undergoing an exponential increase in our society, reason why it is of vital importance that their design, installation and operation follow the strictest possible process, so that the risk of accident could be minimised. However, there is no such process or methodology that guides the full process from identification, evaluation, proposal of solutions and reuse of safety requirements, although a hard work is being done, specially by the standardisation committees. It’s also very difficult to even find in the literature examples of safety requirements identification and use. This paper presents the engineering process we have followed to obtain the safety requirements in one of the robots of the EFTCoR1 project and the way this requirements have affected the architecture of the system, with a practical example: a crane robot for ship hull blasting.Financiado parcialmente por los programas programs CICYT, ANCLA (TIC2003-07804-C05-02), y parte de DYNAMICA (DYNamic and Aspect-Oriented Modeling for Integrated Component-based Architectures

Towards the definition of a pattern sequence for real-time applications using a model-driven engineering approach

Real-Time (RT) systems exhibit specific characteristics that make them particularly sensitive to architectural decissions. Design patterns help integrating the desired timing behaviour with the rest of the elements of the application architecture. This paper reports a pattern story that shows how a component-based design has been implemented using periodic concurrent tasks with RT requirements. This work has been done in the context of the development of robotic applications using a Model-Driven Software Development (MDSD) approach. In this context the model-to-code transformations are designed taking into account both the system requirements and the patterns that satisfy them. MDSD provides the conceptual technology for implementing a pattern-guided transition from component-based models to object-oriented implementations. The results of applying the described story of patterns are shown by an application that initializes, configures and schedules the execution of platform-specific components.This work has been partially supported by the Spanish CICYT Project EXPLORE (ref. TIN2009-08572), and the Fundación Séneca Regional Project COMPAS-R (ref. 11994/PI/09)

StateML + : From Graphical State Machine Models to Thread-Safe Ada Code

This paper presents the StateML+ tool aimed at designing state-machines and automatically generating thread-safe and multi-tasking modular Ada code from them, following a Model-Driven Engineering approach. The StateML+ meta-model is an extension of a previous version, and now it offers improved modeling capabilities, which include regions and macro-state definition. In this paper, a case study regarding the design of a robotic system will be used to demonstrate the benefits of the proposed approach.This research has been funded by the Spanish CICYT project MEDWSA (TIN2006-15175-C05-02) and the Regional Government of Murcia Seneca Program (02998-PI-05)

Improving the Learning Experience and Outcomes in Entrepreneurial Courses

Abstract: Entrepreneurship has been gaining momentum is Europe over the last years as a way to reduce unemployment levels, and in line with the take-off of the digital economy in the world. Entrepreneurship education is still an open research area, with many courses being launched in almost all universities. We describe our experience in running a summer school and mentoring the teams created in the context of the EU-XCeL project, and ICT focused project funded by European Union's Horizon 2020 Research and Innovation Programme. From this experience, we extract some conclusions and recommendations for preparing better courses and learning experiences, and we also advocate for courses mixing students from different Degrees studies, mainly Engineering and Business, for improving the experience and the course outcomes, especially for students of Engineering Degrees.This work has been developed in the context of the EUXCeL project, funded by European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No 644801. It has been partially supported by the “Research Programme for Groups of Scientific Excellence at Region of Murcia" of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia – 19895/GERM/15). Diego Alonso thanks the Spanish Ministerio de Educación, Cultura y Deporte, Subprograma Estatal de Movilidad, Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 for grant CAS14/00238

A reference control architecture for service robots implemented on a climbing vehicle

Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. The architecture is currently being used, tested and improved in the development of an heterogeneous family of robots in the context of the EFTCoR project. It is also presented the Ada’95 implementation of ACROSET for a climbing robot.This work has been partially supported by European Union (GROWTH G3RD-CT- 00794) and the Spanish Government programs CICYT (TIC2003-07804-C05-02) and Seneca (PB/5/FS/02)

An Architectural Framework for Modeling Teleoperated service robots

Teleoperated robots are used to perform tasks that human operators cannot carry out because of the nature of the tasks themselves or the hostile nature of the working environment. Though many control architectures have been defined for developing these kinds of systems reusing common components, none has attained all its objectives because of the high variability of system behaviors. This paper presents a new architectural approach that takes into account the latest advances in robotic architectures while adopting a component-oriented approach. This approach provides a common framework for developing robotized systems with very different behaviors and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of teleoperated robots which perform cleaning of ship-hull surfaces.Este trabajo está parcialmente financiado por CICYT ref. TIC2003-07804-C05-02 y la Comunidad Autónoma de Murcia (Séneca PB/5/FS/02

A case study in performance evaluation of real-time teleoparation software architecture using UML-MAST

Reference architectures for specific domains can provide significant benefits in productivity and quality for real-time systems development. These systems require an exact characterization based on quantitative evaluation of architectural features refered to timing properties, such as performance, reliability, etc. In this work, an UML-based tool has been used to obtain a measure of performance between two alternative architectures. These architectures share the same functional components with different interaction patterns. The used technique is illustrated with an industrial and real case study in a well-known real-time domain: teleoperation systems. The obtained results show clear differences in performance between two architectures, giving a clear indication of which one is better from this point of viewFinanciado parcialmente por FEDER (TAP-1FD97-0823) y GROWTH (GRD2-2001-50004

Active and collaborative learning experience for the acquisition of information competences

[SPA] Este artículo concluye que la aplicación de la metodología de aprendizaje activo colaborativo en la docencia de Adquisición de Competencias en Información, donde el alumno es el principal protagonista, favorece la participación de los alumnos en las actividades docentes, permite alcanzar un elevado porcentaje de aprobados y consigue un alto grado de la satisfacción de los alumnos. [ENG] This paper concludes that the application of the collaborative active learning methodology in the teaching of Acquisition of Competencies in Information, where the student is the main protagonist, favors the participation of the students in the teaching activities, allows to reach a high percentage of approved and Achieves a high degree of student satisfaction