Modeling Principles and Modeling Foundatjons in RobMoSys ● Composable Models and Sofuware for Robotjcs Systems ● Towards an EU Digital Industrial Platgorm for Robotjcs Tutorial at ACM / IEEE 21 st Int. Conf. On Model Driven Engineering Languages and Systems (MODELS) htups://robmosys.eu htups://discourse.robmosys.eu htups://robmosys.eu/wiki
The Big Picture... We need to provide technical solutions in robotics that ● provide great performance ● are safe, secure, robust, resilient, predictable, conforming to legal and ethical norms etc. ● are affordable, economically justifiable, manageable etc. ● Can we think of complex robotic systems before we build them? ● How to manage all the heterogeneous sciences for different parts and aspects of a robotic system? ● How to answer “what if” questions? ● How to find adequate solutions? You can not go through all combinations of all parameters with real systems in order to know about all the possible outcomes for the properties of your system and then select the one best fitting your requirements. You need to be able to answer “what if” questions with tools which give the answers quickly and which are user-friendly and allow you to end up with an adequate solution (trade-off analysis, multi-criteria-optimization, constrained-based reasoning, …). RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 2
The Concept of a Data Sheet Abstraction, Variation Points, Composition, Separation of Roles, ... RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 3
The Concept of a Data Sheet Abstraction, Variation Points, Composition, Separation of Roles, ... Elements of the data sheet general description ● ordering code ● absolute maximum ratings ● recommended operating conditions ● electrical characteristics ● switching characteristics ● physical dimensions ● life support policy ● RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 4
The Concept of a Data Sheet Abstraction, Variation Points, Composition, Separation of Roles, ... Elements of the data sheet general description ● ordering code ● absolute maximum ratings ● recommended operating conditions ● electrical characteristics ● switching characteristics ● physical dimensions ● life support policy ● RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 5
The Concept of a Data Sheet Abstraction, Variation Points, Composition, Separation of Roles, ... RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 6
The Challenge and the Role of Models, Tools, Software in RobMoSys how to know that these blocks fit together? ● how to know what the properties of the ● from devices to robots that from devices to robots that combination of these blocks are? act act ... enrich,combine,, ... enrich,combine,, ... ● ... RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 7
The Challenge and the Role of Models, Tools, Software in RobMoSys how to make these models “act”? ● how to link these models to devices and robots? ● specifying, analyzing, predicting, synthesizing, … ● => how do these properties end up in the real system? from models to models => are these properties in the real system? from models to models from models to models descriptive, declarative, executable, … enrich,combine, analyze,predict, ... enrich,combine, analyze,predict, ... enrich,combine, analyze,predict, ... ● => you need solvers, interpreters, ... just models everywhere… ● ... ... code can be analyzed as well, … ● levels of indirection vs. levels of abstraction ● ... ● from models to robots that act generate, execute, ... RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 8
The Challenge and the Role of Models, Tools, Software in RobMoSys closed building blocks which come with ports and ● variation points described in a digital data sheet with “need to know” information to allow proper use of the building block via its ports RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 9
Digital Data Sheet, Concurrent Activities, Variation Points and Composition Role Twins Details added/used by role ... Artifact: Artifact: represents Modeling twin SW/HW twin <transformation> abstraction Role 1 Role 2 Role 3 Role n ... abstract representation + PC represents + Analogy need to know need to know Data Sheet Building (“Need to know”) Block Handover at discrete + points in time: Representation + need to know Blackbox + need to know + + need to know need to know RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 10
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 ? Separatjon Compositjon, of Composability, Concerns Compositjonality • computatjon • computatjon • communicatjon • communicatjon • coordinatjon • coordinatjon • confjguratjon • confjguratjon splittjng apart… …puttjng together 11 Separatjon of Roles! RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 11
Separation of Roles, Digital Data Sheets, Composition, ... conform to ... digital data structures service definitions ... by domain experts by domain experts conform to ... library ... component library functjon function ... development library library function function component library ... ... component ... RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 12
Methodology and (Meta)Models RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 13
RobMoSys: Roles and Views Structures Participants RobMoSys Composition Structures expressed The participants in the Views in meta-models: ecosystem take one or several roles to use and supply building Robotic Behavior Metamodel blocks: Each role uses dedicated views to work ● Each role uses dedicated views to work Communication-Object Metamodel on models, the modeling twin and the ● on models, the modeling twin and the Communication-Pattern M.-M. building block, e.g. Behavior Developer ● ● building block, e.g. Component-Definition Metamodel Component Supplier ● ● Deployment Metamodel Communication Pattern View Function Developer ● ● ● Communication Pattern View ● Functional Architecture Metamodel Performance Designer Component Development View ● ● ● Component Development View ● Cause-Effect-Chain … Service Design View Safety Engineer ● ● ● Service Design View ● … and its Analysis Metamodels Service Designer System Configuration View ● ● ● System Configuration View ● Service-Definition Metamodel Performance View System Architect ● ● ● Performance View ● System Component Architecture MM Service Architecture View System Builder ● ● ● Service Architecture View ● ... ... ... ● ● ● ... ● ... Tooling ... Which patterns and structures Support as much freedom as possible form the Sweet Spot between while still ensuring composability Freedom of Choice and despite separation of roles Freedom from Choice ? RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 14
RobMoSys Composition Structures Via Architectural Patterns RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 15
Tier 1: Modeling Foundations Tier 1 provides the general structures for composition. Three levels can be distinguished: Architectural Patterns: - levels / concerns ● Service-Defjnition Metamodel - composability ● Communication Object Metamodel - separation of roles (Data Representation Metamodel) ● Communication Pattern Metamodel ● Component Defjnition Metamodel ● System Component Architecture Metamodel ● Cause-Efgect-Chain Metamodel ● Robotic Behavior Metamodel ● ... 1 But how to come up with structures? 2 → 1: Existing Knowledge → 2: Iterate by applying internally and via ITP RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 16
Block-Port-Connector (BPC) Model - Block, port, connector RobMoSys Tier 1 in Detail - Has-a - Contains - Connection - Collection - ... represents Variant 1: Variant 2: SmartMDSD Toolchain Papyrus4Robotics Realization in RobMoSys Tooling Composition Structures Role-Specific Views RobMoSys Tutorial | ACM / IEEE 21 st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen 17
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