Composition, Separation of Roles and Model-Driven Approaches as Enabler of a Robotics Software Ecosystem Towards an EU Digital Industrial Platform for Robotics Prof. Dr. Christian Schlegel, Technische Hochschule Ulm, www.servicerobotik-ulm.de, christian.schlegel@thu.de • Technical Lead of EU H2020 Project RobMoSys – Better Models, BetterTools, Better Systems • Responsible for the Model-Driven Tooling in the BMWi PAiCE Project SeRoNet • Coordinator of the euRobotics aisbl Topic Group on Software Engineering, System Integration, System Engineering • Team is maintainer of the SmartSoft world including the Eclipse-based SmartMDSD Tooling 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 1
Towards an EU Digital Industrial Platform for Robotics • The world is entering an era in which ideas and insights come from everywhere, and crowds, clouds, collaborators, competitions, and co-creators can fundamentally help define our shared future. The business environment is being permanently altered as a result. • Ecosystems are dynamic and co-evolving communities of diverse actors who create and capture new value through both collaboration and competition. Business ecosystems come of age, Deloitte University Press, 2015 For the most part, supply chain functions of large businesses weren’t set up to deal with a world of thousands of partners. Now they must adjust. A distinctive characteristic of many ecosystems is that they form to achieve something together that lies beyond the effective scope and capabilities of any individual actor (or even group of broadly similar actors). 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 2
Towards an EU Digital Industrial Platform for Robotics 100% keep effort in change in solution high effort relation to changes reduce overall effort to build application low effort 0% change in requirements … same entirely new application application • Can we think of complex robotic systems before we build them? • Can we answer „ what if “ questions and can we find adequate solutions? • Can we put systems together out of configurable „ as is “ building blocks ? • Can we keep the behavior when we e.g. exchange the middleware? • Can we bring effort & costs in relation to similarity of an application? • Can we build adequate solutions with adequate effort? • Can we explain why the system does what? • Can we generate enough trust into the systems – and how and by what means? 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 3
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Servicerobotics Research Group / Technische Hochschule Ulm https://www.youtube.com/user/RoboticsAtHsUlm https://www.fendt.com/de/xaver 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 5
https://doi.org/10.2314/GBV:87332112X 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 6
https://www.youtube.com/user/RoboticsAtHsUlm 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 7
13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 8
Towards an EU Digital Industrial Platform for Robotics Projects EU H2020 RobMoSys and BMWi PAiCE SeRoNet https://robmosys.eu https://robmosys.eu/wiki/open-call-2 https://discourse.robmosys.eu https://robmosys.eu/wiki conforms to https://www.seronet-projekt.de/plattform/tooling.html 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 9
RobMoSys is more than just another project… Definition of the RobMoSys Ecosystem: The collection of assets (tools, models, https://robmosys.eu/wiki/baseline:start software components, application pilots, https://robmosys.eu/wiki/jumppage guidance documents) and services (e.g. for adoption, coaching) issued by RobMoSys, https://robmosys.eu/wiki/open-call-2 which are developed, maintained and evolved by the RobMoSys Community. eITUS Safety View for Papyrus4Robotics RoQME Mood2Be Mood2Be Plugins for the BehaviorTree.CPP: Groot, an IDE to SmartMDSD Execution engine for create, modify and Toolchain behavior trees monitor BehaviorTrees CARVE Plug & Bench EG-IPC YARP Mixed Port Benchmark Engineering Tool for Skill Level, Component with Meta-Models links with SmartMDSD SmartMDSD Models 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 10
The SmartMDSDTooling: Conformant to RobMoSys and SeRoNet SmartMDSD Tooling separation of roles made supports accessible by tooling technology-agnostic generic structures building blocks enabling composition conform-to with data sheets: conforms to RobMoSys Plugins allow separation of roles • selection • composition • configuration SeRoNet Plugins supports • implementing • modification OPC UA Plugins made Middleware Plugins accessible import / export of by tooling • service-definitions … Plugins • S/W-components supports Brokerage platform • robot systems • applications OPC UA as base technology conforms to 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 11
Process: Sustainability RobMoSys provides a concept & structure & mechanism • to deal with different coexisting levels of maturity, acceptance, innovation , … • to achieve evolvement, be inclusive, to achieve trust, to go beyond project life- times, … euRobotics accepts role of host and of stewardship for robotics body-of-knowledge support for topic groups that these can fill the host and stewardship role in their respective domains ● Meta-Meta-Models, Meta-Models, Models Topic Group Software Engineering, Other Topic Groups ● Conceptual Models, Domain Models System Integration, System Engineering ● Block-Port-Connector <name> Tier 1: Stewardship ● ... Consolidated Concepts Consolidated Concepts (industry & academia) Tier 2: Eclipse Working Group Robotics other bodies... DIHs ③ Horizontal … … Structured … … … … Dialog ④ RobMoSys Concepts SeRoNet Concepts ROSIN Concepts (industry & ⑤ e.g. Digital Innovation Hub Digital Innovation Hub e.g. e.g. ⑥ academia) Code Scanning, Composition Mixed Port Component, Testing Methods Structures, ② Digital Data Sheet Component Model, Digital Data Sheet ① Tier 3: Individual SmartMDSD SmartSoft SeRoNet SeRoNet VDMA Papyrus activities with their RobMoSys Plugins ACE Brokerage ROS 2 ROS I ... RobMoSys Companion SeRoNet Plugins DDS Platform partners and platforms OPC UA Plugins Specifications … OPC UA Operation 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 12
What is the approach? What is the way of thinking? Quality of Service Blocks, Ports, Connectors Resource Awareness Adequateness Separation of Concerns Technology Agnostic Run-time Variability for Separation of Roles Adequateness, Robustness , … Component Based Model-Driven Digital Data Sheets Service Oriented Composition Hooks for formal methods Composability Business Ecosystem Compositionality … 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 13
Composition, Blocks, Ports, Connectors, Data Sheets, Models Support as much freedom as possible while still ensuring composability despite separation of roles Which patterns and structures form the sweet spot between freedom of choice and freedom from choice ? … 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 14
Composition, Blocks, Ports, Connectors, Data Sheets, Models Architectural Pattern for Communication Architectural Pattern for Component Coordination Architectural Pattern for Software Components Architectural Pattern for Managing Transition of System States Architectural Pattern for Task-Plot Coordination (Robotic Behaviors) Architectural Pattern for Service Definitions Architectural Pattern for Stepwise Management of Extra-Functional Properties Architectural Pattern for Coordinate-Frame Transformation Architectural Pattern for Reservation Based Resource Management … • Methodology Tier 1 content: Meta-Model: • Meta Models Modeling Foundations & domain-independent • Models Example I4.0: Toolings Composition Structures • Implementation Model: Technologies Companion domain-specific • Toolings Tier 2 content: Specification (mobile robots, intralogistics, manipulation , …) • Building Blocks Domain Models & Stacks • Pilot Applications Implementation: Conformant Tier 3 content: • Repositories components and systems • Processes Devices Components & Systems 13.11.2019 RoboSoft - Royal Academy of Engineering, London - Christian Schlegel 15
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