Managing software variability for dynamic reconfiguration of robot - - PowerPoint PPT Presentation

▶
managing software variability
SMART_READER_LITE
LIVE PREVIEW

Managing software variability for dynamic reconfiguration of robot - - PowerPoint PPT Presentation

Nov 20, 2022 451 likes •674 views

Managing software variability for dynamic reconfiguration of robot control systems Davide Brugali University of Bergamo, Italy Outline Managing software variability for : 1. Reducing software development costs 2. Enforcing NF-Requirements at

slide-1
SLIDE 1

Managing software variability for dynamic reconfiguration

  • f robot control systems

Davide Brugali University of Bergamo, Italy

slide-2
SLIDE 2

Outline

  • Managing software variability for :
  • 1. Reducing software development costs
  • 2. Enforcing NF-Requirements at runtime
  • Challenges in software variability management

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-3
SLIDE 3

The cost of software development for service robots

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

care utensil robot floor-cleaning robot container-transporting robot

slide-4
SLIDE 4

The cost of software development for service robots

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

  • up to 90% of the life-cycle costs are influenced by decisions

taken in early development phases

  • the cost estimate uncertainty is higher in early phases
  • the majority of the costs are incurred during production,

and use (i.e. maintenance)

slide-5
SLIDE 5

Current practice : single system development

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

∞

Possible systems Requirements specification Architecture design and analysis Components design Components implementation Running code System Deployment Available technologies

Courtesy of Svahnberg, van Gurp, Bosch Courtesy of Svahnberg, van Gurp, Bosch

slide-6
SLIDE 6

Current practice

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

Variability Modeling of Service Robots: Experiences and Challenges

Sergio García, Daniel Strüber, Davide Brugali, Alessandro Di Fava, Philipp Schillinger, Patrizio Pelliccione, Thorsten Berger 13th International Workshop on Variability Modelling of Software-Intensive Systems, February 6-8, 2019, Leuven Belgium

slide-7
SLIDE 7

Reasons for NOT REUSING software components

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-8
SLIDE 8

Software Product Lines

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

∞

Possible systems Running code Domain Analysis Architecture design and analysis Components design Code implementation System Deployment Requirements specification Product Derivation Available technologies

DE AE

Courtesy of Svahnberg, van Gurp, Bosch

∞

Possible systems

slide-9
SLIDE 9

Robotic variability : Hardware

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-10
SLIDE 10

Robotic variability : Task

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

Logistic Social interaction Housekeeping

slide-11
SLIDE 11

Robotic variability : Environment

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

Mostly static Highly dynamic Outdoor

slide-12
SLIDE 12

Robotic variability : Capabilities

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-13
SLIDE 13

Challenges

  • 1. To identify Domain-specific software architectures
  • that capture robotic variability and
  • allow assessing system-level quality aspects

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-14
SLIDE 14

Safe navigation

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-15
SLIDE 15

Logistics Scenario Requirements :

the robot transports fragile medical items the corridors are not crowded (mostly static) the path is marked with visual landmarks

Configuration :

Trajectory planning : jerk-limited Obstacle avoidance : DWA Localization : Aruco markers

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-16
SLIDE 16

Logistics Scenario Requirements :

the robot transports fragile medical items the corridors are not crowded the path is marked with visual landmarks use a laser range finder and a geometric map

Configuration :

Trajectory planning : jerk-limited Obstacle avoidance : DWA Localization : Aruco markers Localization : AMCL

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

SCARCE ILLUMINATION

slide-17
SLIDE 17

Safe navigation

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-18
SLIDE 18

Response Time Analysis of System Variants

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

Model-based development of QoS-aware Reconfigurable Autonomous Robotic Systems Brugali D., Mirandola R., Capilla R., Trubiani C. 2018 Second IEEE International Conference on Robotic Computing

slide-19
SLIDE 19

Challenges

  • 1. Modeling NF-Requirements for configurable systems
  • Modeling the relationship between NF-Requirements and System Variants
  • Defining Modeling languages

Modeling and Analysis of safety requirements in robot navigation with an extension of UML MARTE

Brugali D. 2018 IEEE International Conference on Real-Time Computing and Robotics

  • 2. Analysis of NF-Requirements for configurable systems
  • To apply analysis methods to each configuration leads to

combinatorial explosion.

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-20
SLIDE 20

Conclusions

  • Variability management for :
  • Reducing development costs
  • Enforcing NF-Requirements at runtime
  • Paradigm shift
  • From single system development to SPL
  • Emphasis on Architectures not on Components
  • Challenges
  • Designing Domain-specific architectures
  • Modelling and analysis of NF-Requirements for

reconfigurable systems

Royal Academy of Engineering - London, UK, 13-14 Nov 2019

slide-21
SLIDE 21

Thank you Questions ?

Davide Brugali University of Bergamo, Italy