Modeling Principles and Modeling Foundatjons in RobMoSys Composable - - PowerPoint PPT Presentation
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
2 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
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, …).
parts and aspects of a robotic system?
We need to provide technical solutions in robotics that
3 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
4 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Elements of the data sheet
5 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Elements of the data sheet
6 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
7 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
enrich,combine,, ...
from devices to robots that act
enrich,combine,, ...
from devices to robots that act
combination of these blocks are?
8 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
enrich,combine, analyze,predict, ...
from models to models
enrich,combine, analyze,predict, ...
from models to models
enrich,combine, analyze,predict, ...
from models to models
from models to robots that act
generate, execute, ...
=> how do these properties end up in the real system? => are these properties in the real system?
=> you need solvers, interpreters, ...
9 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
variation points described in a digital data sheet with “need to know” information to allow proper use of the building block via its ports
10 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Building Block Data Sheet (“Need to know”) Twins Artifact: Modeling twin Artifact: SW/HW twin represents represents abstraction Role Details added/used by role ... ... abstract representation
need to know
Handover at discrete points in time: Representation + Blackbox <transformation> PC Analogy
Role n Role 3 Role 2 Role 1
need to know
need to know
need to know
need to know
need to know
11 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Which patterns and structures form the Sweet Spot between Freedom of Choice and Freedom from Choice?
11
Separatjon
Concerns
splittjng apart… …puttjng together Compositjon, Composability, Compositjonality
Separatjon of Roles! Support as much freedom as possible while still ensuring composability despite separation of roles
12 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
digital data structures by domain experts
conform to conform to
library component library library component
component
library library function function
functjon development
function
service definitions by domain experts
13 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
14 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
The participants in the ecosystem take one or several roles to use and supply building blocks:
RobMoSys Composition Structures expressed in meta-models:
Each role uses dedicated views to work
building block, e.g.
Each role uses dedicated views to work
building block, e.g.
Which patterns and structures form the Sweet Spot between Freedom of Choice and Freedom from Choice? Support as much freedom as possible while still ensuring composability despite separation of roles
15 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
16 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
(Data Representation Metamodel)
Metamodel
Architectural Patterns:
But how to come up with structures? → 1: Existing Knowledge → 2: Iterate by applying internally and via ITP
17 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Realization in RobMoSys Tooling Composition Structures Role-Specific Views
Variant 1: SmartMDSD Toolchain Variant 2: Papyrus4Robotics
represents
18 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Variant 2: Papyrus4Robotics
Realization in RobMoSys Tooling
Composition Structures Role-Specific Views
Shown: Component-Definition Metamodel
Metamodel
Metamodel
Metamodel
Metamodel
Analysis Metamodels
and Service Fulfillment Metamodels
Architecture Metamodel
19 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Variant 2: Papyrus4Robotics
Realization in RobMoSys Tooling
Composition Structures Role-Specific Views
Shown: Component Development View
View
20 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
send query query … state parameter monitoring dynamic wiring
Init Init FatalError FatalError Shutdown Shutdown Alive
<<further user defjned modes can be added in here>>
Component Lifecycle Monitoring Monitoring executjon container (tasks, …) middleware / OS Communicatjon:
Coordinatjon / Confjguratjon:
System Builder
User Space Component Builder
functjonal library functjonal library functjonal library functjonal library
managed tasks coordinatjon service
21 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Variant 2: Papyrus4Robotics
Realization in RobMoSys Tooling
Composition Structures Role-Specific Views
SmartMDSD Toolchain Papyrus4Robotics
22 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen
Activation-jitter (measured on the robot) of the CDL task before (top) and after (bottom) the model change
computatj
guratj
c for communicatj
med trigger for computatj
24 RobMoSys Tutorial | ACM / IEEE 21st MODELS Conference | Schlegel, Stampfer, Lotz | 16.10.2018 Copenhagen