A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems

Gobillot, Nicolas; Lesire, Charles; Doose, David

doi:10.1007/s10846-018-0967-5

Cited by 17 publications

(21 citation statements)

References 48 publications

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“…Moreover, analysis tools on which they rely, like UPPAAL [27] or TimeSquare [28], require a specific expertise to be used. DSL like CPAL [29] and MAUVE [30] are dedicated to programming cyber-physical systems and robots with a component-based approach. In these languages developers define components with desired inputs and outputs and a state machines to describe their internal behavior.…”

Section: State Of the Artmentioning

confidence: 99%

Model driven programming of autonomous floats for multidisciplinary monitoring of the oceans

Bonnieux

Mosser

Blay–Fornarino

et al. 2019

OCEANS 2019 - Marseille

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Monitoring of the oceans with autonomous floats is of great interest for many disciplines. Monitoring on a global scale needs a multidisciplinary approach to be affordable. For this purpose, we propose an approach that allows oceanographers from different specialities to develop applications for autonomous floats. However, developing such applications usually requires expertise in embedded systems, and they must be reliable and efficient with regards to the limited resources of the floats (e.g., energy, processing power). We have followed a Model Driven Engineering approach composed of i) a Domain Specific Language to allow oceanographers to develop applications, ii) analysis tools to ensure that applications are efficient and reliable, iii) a composition tool to allow the deployment of different applications on a same float, and iv) a code generator that produce efficient and reliable code for the float. We present our approach with a biological and a seismological application. We validate it with technical metrics and an experiment.

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Section: State Of the Artmentioning

confidence: 99%

Model driven programming of autonomous floats for multidisciplinary monitoring of the oceans

Bonnieux

Mosser

Blay–Fornarino

et al. 2019

OCEANS 2019 - Marseille

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“…Os robôs são sistemas complexos compostos por componentes de hardware sofisticados e heterogêneos [13] [24]. Uma arquitetura complexa de software coordena a execução de algoritmos que interagem e controlam estes componentes [21].…”

Section: Introductionunclassified

“…A complexidade dos sistemas robóticos cresce drasticamente ao adicionar funcionalidades e trabalhar fora dos componentes preexistentes. Muitas vezes os desenvolvedores do software do sistema robótico não estão preparados para esse aumento de complexidade [24] [15], especialmente quando eles são especialistas em um domínio específico sem um sólido histórico no desenvolvimento e engenharia de software. Um exemplo típico é dado por especialistas em controle portando seus próprios algoritmos de controle de um ambiente simulado para o robô real.…”

Section: Introductionunclassified

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Geração de Código para Robôs implementados com ROS a partir de modelos UML/MARTE

Wehrmeister

2019

Anais Estendidos Do IX Simpósio Brasileiro De Engenharia De Sistemas Computacionais (SBESC Estendido 2019)

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Este trabalho apresenta uma abordagem para a geração de código fonte para sistemas embarcados usandos em robôs a partir de modelos UML anotados com o perfil MARTE. O código fonte gerado utiliza a semântica e as bibliotecas disponíveis no Robot Operating System (ROS) que é amplamente utilizado no projeto e implementação de robôs tanto no meio industrial como no acadêmico. O objetivo principal deste trabalho é a aplicação de técnicas de engenharia guiada por modelos (MDE) no projeto de robôs visando a prototipação rápida de robôs através de simuladores e também a implementação real deles. O trabalho foi validado através de um estudo de caso que mostra a viabilidade da proposta na implementação de um robô simples. Os resultados fornecem indicativos que a abordagem pode ser aplicada em sistemas mais complexos que envolvem multiplos robôs que interagem para realizar tarefas em ambientes industriais.

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“…This strategy combines the sensing technologies embedded in infrastructure and the equipment it interacts with. Real-time data acquisition and analysis in conjunction with the information already gathered, results in better interpretation of the data [1], which is clearly visible in inter alia numerous Internet of Things (IoT)-based healthcare applications [6] or in robotics [7], or in autonomous systems [8]. The use of a humanoid robot gives additional benefits in building the company's relationship with a client [4,7,[9][10][11].The main aim of this work was to extend humanoid robots, which could be considered as both social and service robots using various smart sensors.…”

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confidence: 99%

Human Interaction Smart Subsystem—Extending Speech-Based Human-Robot Interaction Systems with an Implementation of External Smart Sensors

Podpora

Gardecki

Beniak

et al. 2020

Sensors

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This paper presents a more detailed concept of Human-Robot Interaction systems architecture. One of the main differences between the proposed architecture and other ones is the methodology of information acquisition regarding the robot's interlocutor. In order to obtain as much information as possible before the actual interaction took place, a custom Internet-of-Things-based sensor subsystems connected to Smart Infrastructure was designed and implemented, in order to support the interlocutor identification and acquisition of initial interaction parameters. The Artificial Intelligence interaction framework of the developed robotic system (including humanoid Pepper with its sensors and actuators, additional local, remote and cloud computing services) is being extended with the use of custom external subsystems for additional knowledge acquisition: device-based human identification, visual identification and audio-based interlocutor localization subsystems. These subsystems were deeply introduced and evaluated in this paper, presenting the benefits of integrating them into the robotic interaction system. In this paper a more detailed analysis of one of the external subsystems-Bluetooth Human Identification Smart Subsystem-was also included. The idea, use case, and a prototype, integration of elements of Smart Infrastructure systems and the prototype implementation were performed in a small front office of the Weegree company as a decent test-bed application area.The days, when simply having a robot was impressive, are gone. The technology should be more than just presenting content. It should be truly interactive. The authors of this work evaluated methods for the purpose of measurement and influencing the Human-Robot interaction User Experience, (see Reference [1]), concluding that the robot's interaction is perceived as more natural if the robot is able to personalize its communication content towards a particular interlocutor. It became clear, that the system should be able to get as much information as possible during and before the conversation takes place [2]. One of the key aspects in a healthy conversation is emotional state recognition. All the improvements of the robots presented in this paper are aiming for natural, real integration with human customers with the implementation of Artificial Intelligence [3,4].The authors of this work have indicated extending the robot's capabilities by adding additional external wireless sensors in Reference [2], however without Smart Infrastructure. Implementation of a remote PID (Passive Infrared Detector) sensor in order to get a signal "someone is coming" seemed to be enough at that stage.In this paper an extended approach is being presented, introducing Human Identification Smart Subsystems (HISS)-a set of external sensors, which enable us to obtain much more valuable information, resulting from the communication with the Smart Infrastructure [5] or databases of the customer. The idea presented in this paper has been successfully verified and implemented and the con...

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A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems

Cited by 17 publications

References 48 publications

Model driven programming of autonomous floats for multidisciplinary monitoring of the oceans

Model driven programming of autonomous floats for multidisciplinary monitoring of the oceans

Geração de Código para Robôs implementados com ROS a partir de modelos UML/MARTE

Human Interaction Smart Subsystem—Extending Speech-Based Human-Robot Interaction Systems with an Implementation of External Smart Sensors

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