Component-based Robotics Engineering Davide Brugali, Luca Gherardi - - PowerPoint PPT Presentation

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Component-based Robotics Engineering Davide Brugali, Luca Gherardi - - PowerPoint PPT Presentation

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Component-based Robotics Engineering Davide Brugali, Luca Gherardi Universit degli Studi di Bergamo Anchorage, AK, USA May 7, 2010 Davide Brugali, Luca Gherardi UNIVERSIT DEGLI 1 STUDI DI BERGAMO Anchorage, AK, Usa - May 7, 2010 IEEE

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UNIVERSITÀ DEGLI STUDI DI BERGAMO

Component-based Robotics Engineering

Davide Brugali, Luca Gherardi Università degli Studi di Bergamo Anchorage, AK, USA May 7, 2010

1 Davide Brugali, Luca Gherardi Anchorage, AK, Usa - May 7, 2010

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IEEE Tutorial

  • Component-based Robotics Engineering
  • Part I: Reusable building block
  • IEEE RAM, December 2009
  • Part II: Systems and Models
  • IEEE RAM, March 2010

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Introduction

  • TODAY: A lot of robotics software are available

but often not reusable

  • They are tight to specific robot
  • GOAL: build robotic software through a

composition of reusable building blocks

  • called component
  • Solution: Component Based Software engineering

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What is reuse?

  • Software reuse is:
  • the practice of developing software,
  • from a stock of building blocks,
  • so that similarities in requirements and/or

architecture between applications ca be exploited,

  • to achieve substantial benefits in productivity,

quality and business performance.

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What makes a component reusable

  • Three aspects are equally important
  • Quality. The component has to be usable (reliability,

performance, efficiency,…),

  • Functionality. It should be desirable to reuse the

component (it offer a function that is needed),

  • Technique. It should be possible to reuse the component

(portability, interoperability, modularity).

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Types of reuse

  • Horizontal component: provide functionality that can used in

totally different use cases.

  • Vertical component: provide functionality that can be used in

a specific domain.

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Component-Based System

  • Component: a unit of composition with contractually specified

interfaces and explicit context dependencies only. A software component can be deployed independently and is subject to composition by third part.

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Component

  • Separation of specification and implementation

8 Davide Brugali, Luca Gherardi Anchorage, AK, Usa - May 7, 2010

Component Functional Specification Provided Interface Required Interface Contract

1..* 1..* 1..*

Component Implementation

* 1 *

Object

1 *

Class

1 * instance

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Component Specification

  • Interface design concept
  • Provided/Required
  • Service/Data
  • Strongly-typed/Loosely-typed
  • Stateful/Stateless
  • Minimal/Complete
  • Contract

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Implementation example

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Component framework

  • A skeleton of a component

implementation that can be specialized by a component developer to produce custom component.

  • Stable point
  • Variation point
  • Variant
  • Life span

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Implementing variability

  • Classification according to binding time
  • Compile time, Link time, Run time
  • Technologies
  • Inheritance and extension
  • Aggregation and delegation
  • Parameterization
  • Conditional compilation
  • Dynamic Link Libraries
  • Reflection

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Refactoring

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  • A technique that aims to restructure a set of existing software

libraries without affecting their external behavior in order to harmonize their architecture, data structures, and APIs.

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Path planner component-framework

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Motion planning Component-based system

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Separation of functional and extra-functional requirements

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Component Functional Specification Provided Interface Required Interface Contract

1..* 1..* 1..*

Component Implementation

* 1 *

Object

1 *

Class

1 * instance

Component Extra-Functional Specification Computation Configuration

1..* 1..*

Container

* 1 * 1 *

Resource Service Port

*

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Computation

  • Is concerned with the data processing

algorithms

  • Data transformation -> data flow design
  • Control transformation -> control flow design
  • Different levels of concurrency's granularity
  • Fine grain
  • Medium grain
  • Large grain

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Granularity of control transformation

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Components Assembly

n sequential Components + m service Components + 1 container Component = Component Assembly

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Separation of functional and extra-functional requirements

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Component Functional Specification Provided Interface Required Interface Contract

1..* 1..* 1..*

Component Implementation

* 1 *

Object

1 *

Class

1 * instance

Component Extra-Functional Specification Computation Configuration

1..* 1..*

Container

* 1 * 1 *

Resource Service Port

*

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Configuration

  • Determines which system components should

exist, and how they are inter-connected

  • A configuration is described in term of
  • Components
  • Connection between component
  • Connectors: architectural building blocks used to

model interactions among components and rules that govern those interactions

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Quality of Service

  • QoS depends on implementation, availability
  • f resources and environment

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Separation of component and system requirements

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Component Functional Specification Provided Interface Required Interface Contract

1..* 1..* 1..*

Component Implementation

* 1 *

Object

1 *

Class

1 * instance

Component Extra-Functional Specification Computation Configuration

1..* 1..*

Container

* 1 * 1 *

Resource Service Port System Specification Communication Coordination

1..* 1..* * 1 *

System Connector E2E QoS Connections

1 *

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Communication

  • Deal with the exchange of data
  • Two types of communication
  • Imperative: caller/provider mechanism
  • Reactive: broadcaster/listener mechanism
  • Visibility implies dependencies and influence

reusability of components.

  • Three dimensions of decoupling
  • Space / Time / Synchronization decoupling

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Decoupling degree between component

  • Three dimensions of decoupling
  • Space decoupling
  • Time decoupling
  • Synchronization decoupling
  • Communication paradigm influence the

decoupling degree

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Communication paradigm

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  • Communication paradigm influence the decoupling degree
  • Remote method invocation
  • Publish/Subscribe
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Coordination

  • Is concerned with the interaction of the

various system components

  • Coordination language & models
  • Data-driven
  • Control-driven

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Interaction between components

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