Fault Avoidance in Development of Robot Motion-Control Software by Modeling the Computation

Transcription

1 Fault Avoidance in Development of Robot Motion-Control Software by Modeling the Computation Yury Brodskiy, Robert Wilterdink, Stefano Stramigioli, Jan Broenink SIMPAR2014

2 Content Introduction Why Modeling the Computation? Modeling as means of Fault avoidance Development process Tool integration Use case Conclusion 2

3 Introduction Context - robot motion-control software must be reliable, fail-safe it is critical for reliability of the robot Component-Based Software Development - CBSD Software components: 5C Composition, Connection, Configuration, Coordination, Computation Computation not in CBSD; uses flexibility of GPL Incorporate Computation Domain-Specific Language Cover in development processes 3

4 Modeling & Fault Avoidance Modeling the Computation to improve understanding of algorithm to verify its qualities to automate development process! Design time: Fault avoidance Prevent Remove Forecast 4

5 Development Process Must cover all 5 Cs BRICS Robotic Application development Process Composition, Connection, Configuration, Coordination BRIDE graphical editor Embedded Control Software development process Computation 20-sim Modelling and Simulation tool Combine RAP & ECS Methods combined Tools connected 20sim output generator tuned combined with BRIDE output > 5

6 Combined development process BRICS Robotic Application Development Process Embedded Control Software Development Process 6

7 Combine output of 20-sim & BRIDE From model to implementation 7

8 Combined development process BRICS Robotic Application Development Process Embedded Control Software Development Process 8

9 Fault avoidance in Software development 9

10 Case: BRICkS Stacking app youbot robot stacks blocks into a box Parallel development Physical Systems Modeling Functional Architecture Design Iterative development Component, Runtime Algorithm Sequential Software implementation Realization Focus here Architecture / Algorithm Models > Components 10

11 Architecture Generic Functional Architecture granularity of the algorithms functional decomposition 11

12 Component Architecture data flow diagram runtime effects time delays added test robustness of algorithm! Algorithm design Robot Model (earlier work) grey blocks filled in 12

13 Implementation Orocos RTT Trajectory Planner Coordination rfsm DSL BRIDE Communication Configuration From 20-sim Computation grey blocks Drivers / Firmware C++ hw, os specific 13

14 From concept to architecture 14

15 Use case:youbot First Verified time in right simulation in real life 15

16 Conclusions Software quality is increased due to removal of human error from implementation process (fault prevention) removal of implementation details from algorithm design (fault prevention) improving response to faults based on simulation (fault forecasting & fault removal) Methodology is easily combined with existing SW frameworks and CASE tools Future work Develop tool chain further beyond prototype stage 16

17 Fault Avoidance in Development of Robot Motion-Control Software by Modeling the Computation Yury Brodskiy, Robert Wilterdink, Stefano Stramigioli, Jan Broenink SIMPAR2014