RA RACE CE A softw A softwar are e fr framew amewor ork k - - PowerPoint PPT Presentation

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RA RACE CE A softw A softwar are e fr framew amewor ork k - - PowerPoint PPT Presentation

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RA RACE CE A softw A softwar are e fr framew amewor ork k for inter or interope operable, ble, plug-and plug and-play play, , distributed r distributed robotic obotic sys systems tems-of of-sys systems tems Robert Skilton

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RA RACE CE

A softw A softwar are e fr framew amewor

  • rk

k for inter

  • r interope
  • perable,

ble, plug plug-and and-play play, , distributed r distributed robotic

  • botic

sys systems tems-of

  • f-sys

systems tems

Robert Skilton t Skilton

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Experienc Experience e fr from JET

  • m JET – The w

he wor

  • rlds

lds most most po powerful nuc erful nuclear fusion lear fusion experiment xperiment

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

  • >30,000 hours of operational

experience

  • 8 maintenance programmes
  • >20 Years of robotic

maintenance

  • >2000 tools used
  • >8500 components handled

Replacement of the entire “first wall”, using over 350 separate remote handling tools and replacing over 7,000 components

  • ver 18 months.
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Challenges Challenges for lar

  • r large

ge-scale r scale robotic

  • botic

maintenance a maintenance and decommiss nd decommissioning ioning

3

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

  • Integrating (100s of) systems from multiple suppliers
  • Multiple bespoke interfaces
  • Training requirements
  • Operational lifetime may be several decades
  • Requirements evolve over time
  • Obsolescence management
  • Scalability
  • Reliability
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Hardware interface - hardware integration and translation Control – control methods​, generic control laws, motion planning, AI Sensor processing – signal processing, sensor fusion, feature extraction HMI & GUI – integrated user interfaces to provide operator control and interaction Planning & scheduling tools - which can be used to add process and procedure to control tasks. Virtual & augmented reality - to display information in the form of intuitive 3D visualisations / digital twin. Condition monitoring - to track patterns and changing conditions in the equipment in order to identify developing faults.

Uses of Uses of softw softwar are in these r e in these robotic

  • botic

facilities acilities

4

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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Modularity – Control should be implemented in discrete blocks, so that sections can be removed, swapped out, and used in conjunction with other discrete blocks. Standardisation – Data should use pre-defined, but extendable, data structures. This allows for customisation while keeping as much compatibility as possible. Extensibility – Control should be implemented in such a way as to allow it to be extended by later applications. For example, a 4-wheeled robot could be extended to control a 6-wheeled robot. Reusability – Control should be implemented in a generic fashion. For example, a 4-wheeled robot is controlled as a 4-wheeled robot, rather than brand specific model. Common, user interfaces – A single, universal, consistent interface for users and developers.

Design Design requir equirements ements

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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  • Encapsulation
  • Abstraction
  • Inheritance & Composition
  • Polymorphism

Not about the software, but about the system connected by the software. OO alone does not create interoperability or plug-and-play capability. Introspection and knowledge of a type hierarchy allows us to go further.

Object Object-Oriented Design? Oriented Design?

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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CorteX attempts to solve the main problems associated with interoperable, plug-and-play, distributed robot systems-of-systems, at least from a data/communications perspective. CorteX could be thought of as: 1. A standardised graphical data representation for robotic systems 2. A method for communicating this representation 3. A software framework that implements the above 4. Additional software tools to add functionality

Wha hat is t is Cor CorteX teX?

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

Software Framework

Communications Data Representation Tools

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  • CorteX uses a self-describing, standardised

data representation.

  • Every node (Simplex) in the graph uses the

same format.

  • This data representation can be used as part of

a communications protocol to allow distributed components of a single control system to exchange data without prior knowledge of each

  • ther.
  • This means a CorteX control system can grow

to incorporate new hardware and control features without modifying other distributed components.​

Self Self-descript description to allo ion to allow a sing w a single le standa standardised dised interf interface ace

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

Data Representation

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Simplex (graph nodes) Data

  • Type (from type hierarchy)
  • ID
  • Data (name, value pairs)
  • Relationships (graph edges)
  • Commands (definition of

command and parameters)

Da Data R ta Repr epresenta esentation tion

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

Simplex Relationships Commands (Definition) Data Type ID

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Type Hier ype Hierar archy hy

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

anipulator erial anipulator anipulator ripper Ro oti inger ripper Ro oti inger ripper imple imple u a R II A Arm
  • ncept
A is
  • ncept
rocessor
  • ntroller
A is
  • ntroller
Rotar A is
  • ntroller
u stem artesian
  • ncept
artesian
  • ntroller
artesian elta
  • ntroller
  • rwar
inematics Inverse inematics inear A is
  • ncept
Rotar A is
  • ncept
Ro oti 3 inger ripper arallel anipulator
  • l A is
  • ntroller
rocessor
  • or inator
inear A is
  • ntroller
u a Inverse inematics
  • ncept
  • or inator
rocessor elector I ive an set
  • ncept
elector igital I
  • ncept

Types Data Rules Relationship Rules Command Rules

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Type Hier ype Hierar archy hy – Manipula Manipulator E tor Example xample

11 11

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

anipulator erial anipulator anipulator ripper Ro oti inger ripper Ro oti inger ripper imple imple u a R II A Arm
  • ncept
A is
  • ncept
rocessor
  • ntroller
A is
  • ntroller
Rotar A is
  • ntroller
u stem artesian
  • ncept
artesian
  • ntroller
artesian elta
  • ntroller
  • rwar
inematics Inverse inematics inear A is
  • ncept
Rotar A is
  • ncept
Ro oti 3 inger ripper arallel anipulator
  • l A is
  • ntroller
rocessor
  • or inator
inear A is
  • ntroller
u a Inverse inematics
  • ncept
  • or inator
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  • ncept
elector igital I
  • ncept
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Str Structur uctural al & Mor & Morphological phological Rules ules

12 12

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

Behavioral Elements Structural Elements

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Example System Ar Example System Architectur hitecture

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

Arm u a R II A Ro oti inger ripper Rotar A is

  • ncept
  • l A is
  • ntroller

Rotar A is

  • ncept

inear A is

  • ncept

inear A is

  • ntroller

inear A is

  • ncept

artesian elta

  • ntroller

artesian

  • ncept
  • rwar

inematics u a Inverse inematics artesian

  • ncept

Rotar A is

  • ncept

rocessor elector Rotar A is

  • ncept

artesian

  • ncept
  • ncept

elector ive an set igital I

  • ncept
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Examples:

  • Hardware interface
  • Control
  • GUI
  • Planning
  • VR / AR
  • Condition monitoring
  • AI / Autonomy
  • Etc.

Wha hat tools ha t tools have been de e been developed, using eloped, using Cor CorteX teX?

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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  • Byproduct of self-description

and standardized data representation.

  • GUI only needs compiling, unit

testing once

  • Human Factors, Accessibility

standards, look and feel consistent across whole facility

  • Reduces training need
  • Just one example of

interoperable behavior and benefits

Model Model-driv driven, en, automa automaticall tically gener generated ted GUI GUIs

15 15

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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  • 2x Integrated Innovation in Nuclear

Decommissioning project teams

  • 3x InnovateUK projects on

maintenance, repair, decommissioning

  • Joint European Torus remote

maintenance systems

  • European Spallation Source Active

Cells Facility handling systems

Cur Current & ent & p planned deplo lanned deployments yments

17 17

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

This software has the potential to reduce the cost to develop, integrate, and maintain robotic facilities in high-consequence environments.

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  • Big data, lightweight methods
  • Geometric data and sensor fusion
  • HMI/GUI
  • Multi-agent systems
  • VR / AR
  • AI / Autonomy
  • Model-driven approaches?
  • Verification (Modular? Run-time monitoring?)
  • Cyber Security
  • Distributed control
  • Real-time analysis
  • Scheduling and prioritisation
  • Optimisation
  • Modelling, representing, and propagating uncertainty
  • Other applications

Cor CorteX teX - Resear esearch h Ar Areas eas

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RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019

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Thank y hank you!

  • u!

Robert Skilton robert.skilton@ukaea.uk

RoboSoft: Software Engineering for Robotics Royal Academy of Engineering, London, UK, 13-14 November, 2019