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Subsystems and Buffers. (a) Subsystem Buffers and Internal Memory; (b) Relation of particular Subsystems to Communication buffers.
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The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modellin...
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Developing image-guided robotic systems requires access to flexible, open-source software. For image guidance, the open-source medical imaging platform 3D Slicer is one of the most adopted tools that can be used for research and prototyping. Similarly, for robotics, the open-source middleware suite robot operating system (ROS) is the standard devel...
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... MeROS System Composition: Intrasystem and associated blocks Sam proces opracowywania systemu cyberfizycznego, jakim jest system robotyczny, wymaga osadzenia logiki działania w sprzęcie, stąd obok logicznej koncepcji działania potrzebne jest upostaciowienie [9]. Taką możliwość daje EARL [22,23]. Podobnie jak MeROS, EARL oparty jest na SysML, co ułatwia ich wspólne wykorzystanie, będące przedmiotem tego artykułu. ...
Systems engineering is currently playing a key role in the manufacture, implementation and maintenance of cyber-physical systems. Increasingly, it is becoming an integral tool when designing, for example, robotic systems. This paper proposes a methodology for the design of robotic systems based on two metamodels: EARL at the implementation platform-independent level and MeROS dedicated to ROS/ROS 2. The procedure is demonstrated by analysing a representative application: a heteregonous multi-robot system with a central coordinator.
... This is one of the reasons for the active development of suitable arm control algorithms, which include mechanical interactions with the environmentespecially humans. Some significant achievements are based on either impedance control [22][23][24] or force control [25][26][27][28][29]. It is worth noting that there are also some commercially available robots for professional industrial use equipped with VSAs belonging to this category [30]. ...
Modern robot applications benefit from including variable stiffness actuators (VSA) in the kinematic chain. In this paper, we focus on VSA utilizing a magnetic spring made of two coaxial rings divided into alternately magnetized sections. The torque generated between the rings is opposite to the angular deflection from equilibrium and its value increases as the deflection grows – within a specific range of angles that we call a stable range. Beyond the stable range, the spring exhibits negative stiffness what causes problems with prediction and control. In order to avoid it, it is convenient to operate within a narrower range of angles that we call a safe range. The magnetic springs proposed so far utilize few pairs of arc magnets, and their safe ranges are significantly smaller than the stable ones. In order to broaden the safe range, we propose a different design of the magnetic spring, which is composed of flat magnets, as well as a new arrangement of VSA (called ATTRACTOR) utilizing the proposed spring. Correctness and usability of the concept are verified in FEM analyses and experiments performed on constructed VSA, which led to formulating models of the magnetic spring. The results show that choosing flat magnets over arc ones enables shaping spring characteristics in a way that broadens the safe range. An additional benefit is lowered cost, and the main disadvantage is a reduced maximal torque that the spring is capable of transmitting. The whole VSA can be perceived as promising construction for further development, miniaturization and possible application in modern robotic mechanisms.
... There are different Model Driving Engineering approaches in the robotics domain [19]. For instance, Embodied Agent-Based cybeR-physical control systems modelling Language (EARL) [20] is SysML specialisation for robotics which allows analysis and specification of the robotic system properties. Other DSLs support verification and testing of, e.g. industry 4.0 plants [21], or agent-based computational systems [22]). ...
Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS's simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.
... The robotic models can be subdivided [20] into Platform Independent Models (PIM), e.g., [21], [22], [23], [24], and Platform Specific Models (PSM). The metamodels of ROS, including MeROS, belong to PSM and should answer to the component nature of ROS [25], [26]. ...
... The requirements [RX] formulation process for MeROS metamodel is multi-stage and iterative. In the beginning, the initial requirements were formulated based on: (i) literature review (both scientific and ROS wiki/community sources), (ii) author experience from supervising and supporting ROS-based projects, and finally, (iii) author experience from EARL (Embodied Agent-based cybeRphysical control systems modelling Language) [24] PIM development and its applications (e.g. [23], [32], [33]). ...
... A way of combining these two ways of description is presented in, e.g. [24]. SysML parametric diagrams also respond to this problem. ...
The complexity of today’s robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system’s decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help develop robot controllers in the spirit of SE.
... for two others a higher control layer was specified to control already existing Velma robot controller [18], both real and simulated. ...
Robotic System Specification Language (RSSL) stems from the embodied agent approach to robotic system design. It enables the specification of both the structure and activities of a multi-robot multi-agent robotic system. RSSL specification can be verified and automatically transformed by its compiler into a six-layered Robotic System Hierarchical Petri Net (RSHPN). RSHPN models the activities and structure of the designed robotic system. The automatically generated RSHPN is loaded into RSHPN Tool modeling RSHPNs and automatically generating the controller code. This approach was validated on several robotic systems. The use of RSSL and RSHPN facilitates the synthesis of robotic system controllers.
... The Coupled-Layer Architecture for Robotic Autonomy (CLARAty) [34] imposes a two-layer architecture containing a decision layer responsible for task planning and execution and a functional layer responsible for interaction with system hardware [35]. Embodied Agent-based Robot control system modelling Language (EARL) [36] (based on SysML [37]) expresses the model of a robotic system architecture composed of embodied agents in terms of SysML diagrams containing architectural constraints imposed on permissible agent subsystem connections. Task schedulER (TaskER) [38,39] propose the architectures for the robotic systems performing schedulable tasks. ...
The paper presents a model-based approach to developing robotic system controllers. Central to this approach is a parameterised meta-model that describes the generic robotic system from two points of view: structure and activity. By appropriate parametrisation of the meta-model one can obtain a particular model of a robotic system performing desired tasks. The meta-model is expressed using the Robotic System Hierarchical Petri Net (RSHPN), a 6-layer Petri net tailored for robotics. Each layer describes the activity of the robotic system at a completely different level of abstraction. This guarantees the separation of concerns. The required model emerges from the meta-model by appropriate parametrisation of the layers of the RSHPN. Introduction of parametrisation enables the robot designer to focus only on the concepts derived from the domain. It greatly facilitates the robotic system development process as it gives the designer clear guidance on what needs to be defined and what is imposed by the design pattern. The resulting single RSHPN model is used both to verify some properties of the system, e.g. lack of deadlocks, but also to automatically generate controller code. The presented approach is illustrated by examples of the creation of two different robotic systems.
... A code generator is provided to transform models to C ++ ROS code. Winiarski et al [15] propose EARL, a DSL based on SySML for designing ROS-based control system. The approach relies on a mathematical method of robot controller specification, using the concept of embodied agent. ...
Nowadays, Multi-Robot Systems are an emerging research field under the umbrella of Cyber-Physical Systems. They consist of a group of robots that cooperate to accomplish a common mission. Examples of
these systems are present in many application fields, e.g., agriculture, manufacture, industry, military, and health. As a consequence, there exist many frameworks facilitating the development of robotics systems. However, these tools require high skills for programming each robot’s behavior and coordinating the interactions among them, which overall should produce the cooperative behavior of the Multi-Robot System needed to carry out its mission successfully. To address this problem, we propose an approach for high-level modeling the cooperative behavior of Multi-Robot Systems through disciplined use of collaboration diagrams as they are provided by the BPMN 2.0 standard. The definition of our modeling proposal has been driven by ROS2, taken as the reference framework for programming robotics systems, and its DDS implementation for intra- and inter-robot communication. We illustrate the proposed approach through a Multi-Robot System in a smart agriculture scenario.
... Metoda specyfikacji agentowej pozwala na precyzyjne opisanie zachowań poszczególnych agentów i ich podsystemów, a także na opisanie struktury całego systemu. Metoda specyfikacji doczekała się także wariantu opartego na SysML [22]. ...
This work presents an example control system of a service robot. All used concepts, tools and open source software are described. The control system is presented starting from configuration of hardware, specification, up to its implementation. Generality of the image allows the reader to look at the problem globally, while some important, detailed aspects are highlighted. Simulation–related problems are also described. The presented system of WUT Velma robot has been used in many research works.
... Our goal was to propose a model and its parameters identification procedure for a gripper and grasped object that can be effectively analysed and integrated into the control system of impedance controlled robots. To achieve this, the problem analysis and system description fulfil the system engineering standards and are based on SysML [12,13] and its application to cyber-physical systems modelling, i.e., EARL [14] version 1.2 [15]. EARL was recently used to develop systems described in, for example, [16,17]. ...
This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.
... This process provides engineers with the means to evaluate the system designs and to take informed action if necessary. In the same line, Winiarski et al. [31] propose a modeling language to support the development of the robot control system based on SysML [32]. As MARTE, SysML is a UML profile that enables the specification of traceable requirements and analytical models. ...
Comprehensive Geriatric Assessment (CGA) is an integrated clinical process to evaluate frail elderly people in order to create therapy plans that improve their quality and quantity of life. The whole process includes the completion of standardized questionnaires or specific movements, which are performed by the patient and do not necessarily require the presence of a medical expert. With the aim of automatizing these parts of the CGA, we have designed and developed CLARC (smart CLinic Assistant Robot for CGA), a mobile robot able to help the physician to capture and manage data during the CGA procedures, mainly by autonomously conducting a set of predefined evaluation tests. Using CLARC to conduct geriatric tests will reduce the time medical professionals have to spend on purely mechanical tasks, giving them more time to develop individualised care plans for their patients. In fact, ideally, CLARC will perform these tests on its own. In parallel with the effort to correctly address the functional aspects, i.e., the development of the robot tasks, the design of CLARC must also deal with non-functional properties such as the degree of interaction or the performance. We argue that satisfying user preferences can be a good way to improve the acceptance of the robot by the patients. This paper describes the integration into the software architecture of the CLARC robot of the modules that allow these properties to be monitored at run-time, providing information on the quality of its service. Experimental evaluation illustrates that the defined quality of service metrics correctly capture the evolution of the aspects of the robot’s activity and its interaction with the patient covered by the non-functional properties that have been considered.
