Eclipse-Based RobMoSys Tooling: Papyrus4Robotics Huascar Espinoza, - - PowerPoint PPT Presentation

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Mar 16, 2023 324 likes •530 views

Eclipse-Based RobMoSys Tooling: Papyrus4Robotics Huascar Espinoza, CEA Tutorial at ACM / IEEE 21st Int. Conf. On Model Driven Engineering Languages and Systems (MODELS) Copenhagen, 16.10.2018 Papyrus4Robotics Toolchain RobMoSys Model-Driven

SLIDE 1

Eclipse-Based RobMoSys Tooling: Papyrus4Robotics

Huascar Espinoza, CEA Tutorial at ACM / IEEE 21st Int. Conf. On Model Driven Engineering Languages and Systems (MODELS) Copenhagen, 16.10.2018

SLIDE 2

Papyrus4Robotics Toolchain

SLIDE 3

RobMoSys Model-Driven Approach

Functional Architecture Deployment System Component Architecture

RobMoSys Composition Structures

Component Definition Behavior Communication

Multiple Stakeholders and Concerns

Component and Architectural Design Validation and Verification Code Generation and Deployment

RobMoSys-related Tools Modelling Views Abstractions

Implementation

Design

Validation & Verification

Quality Management

Component Release

Safety Assessment

SLIDE 4

Viewpoints in Papyrus (1/2)

Aligned to ISO 42010 RobMoSys (Papyrus) Architecture Framework

Stakeholders (roles) Concerns (artifacts) Viewpoints (diagrams, palettes, menus,…) Separation of Roles Configuration

SLIDE 5

Viewpoints in Papyrus (2/2)

Separation of Roles Deployment Viewpoints to be selected Viewpoint-Customized Environment

SLIDE 6

Safety Analysis with RobMoSys

SLIDE 7

Applicable Safety Standards in Robotics

Functional Safety

SLIDE 8

Why Models for Safety Assessment?

If a fault develops here What effect does the fault have? On the outputs

Credits: Yiannis Papadopoulos, University of Hull, U.K

System Design Model

SLIDE 9

Safety Analysis with RobMoSys

component supplier system builder safety engineer

Fault Tree Analysis (FTA) View

safety engineer

critical path

SLIDE 10

Safety Analysis Example

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Safety Analysis Use Case Scenario

Design of a real-time Cartesian impedance controller, in torque mode. Identify the critical faults to be monitored to avoid unintended movements (hazard), that may cause collisions (harm).

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Scenario Workflow

1. System Modeling
2. Component

Fault Analysis

3. System

Hazard Analysis

4. Critical Path

Identification

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1. System Modeling

2. 3. 4.

component supplier system builder

Define Components: Ports, Services, Parameters, Activities Define System Architecture: Connectors, Service Instantiation, Data exchanged

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2. Component Fault Analysis

3. 4.

component supplier safety engineer

Associate failure modes to ports, internal failures, propagation links, and barriers It defined the potential fault propagation inside each component

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1. 2.

3. System Hazard Analysis

Set to “Top Event” Fault Propagation Tree

* solver under development

“pick & place trajectory speed < 250 mm/s” This defines the (high- level) safety requirement:

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1. 2. 3.

4. Critical Path Identification

Faults that must be monitored and mitigated

SLIDE 17

Papyrus4Robotics Roadmap

Year 1

Time

Now

01 2017 01.02. 2019 07 2020 07 2019 07 2017 09 2017 30.04. 2020 RobMoSys Profile RobMoSys Editor Safety View Safety Analysis Safety Runtime Monitoring 09 2018 03 2018

Year 2 Year 4 Year 3

Code Generation and Round-trip Engineering Simulation

1st Release 2nd Release 1st Release 2nd Release 3rd Release 1st Release 2nd Release 3rd Release

SLIDE 18

Thanks! Questions?

SLIDE 19

Digital Data Sheet

SLIDE 20

Ambition of Creating Models

Models for run-time dialogues between machines Models for human discussions Models for human software documentation Models for verification and validation

1 2 4 5

Models for software tools and standards

Ecosystem Life Complexity