2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)最新文献

A Modeling Tool for Reconfigurable Skills in ROS ROS中可重构技能的建模工具

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00011

D. Bozhinoski, Esther Aguado, M. Oviedo, C. H. Corbato, R. Sanz, A. Wąsowski

引用次数: 5

[Copyright notice] (版权)

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/rose52553.2021.00003

引用次数: 0

Assumptions and Guarantees for Composable Models in Papyrus for Robotics 机器人Papyrus中可组合模型的假设与保证

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00007

Jabier Martinez, A. Ruiz, A. Radermacher, Stefano Tonetta

引用次数: 1

Power and Energy Communication Services for Control-software Models 用于控制软件模型的电力和能源通信服务

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00016

Reynaldo Cobos Méndez, D. Dresscher, J. Broenink

引用次数: 3

Considerations for using Block-Based Languages for Industrial Robot Programming - a Case Study 在工业机器人编程中使用基于块的语言的考虑-一个案例研究

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00008

Christoph Mayr-Dorn, M. Winterer, Christian Salomon, Doris Hohensinger, R. Ramler

{"title":"Considerations for using Block-Based Languages for Industrial Robot Programming - a Case Study","authors":"Christoph Mayr-Dorn, M. Winterer, Christian Salomon, Doris Hohensinger, R. Ramler","doi":"10.1109/RoSE52553.2021.00008","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00008","url":null,"abstract":"The paradigm shift triggered by Industry 4.0 leads to a fast rising number of industrial machinery and collaborative robots that increases the need for flexible customization of production processes and automation workflows. End-user programming of industrial robots has become an essential capability for all areas in industry. Consequently, different visual programming languages have found their way into the domain of industrial robot programming. In this paper, we investigate the applicability of block-based programming languages for large and complex robot programs in realistic environments. Here, a key aspect of robot programming is not only the interaction with the physical environment, but also the robot's interaction with other shopfloor participants at the software control level. To this end, we analysed the requirements for programming a robot based a real world production cell and implemented the necessary programming constructs using Blockly, an open-source block-based visual language. We assessed the results comparing the implementation of a change in Blockly and the Sequential Function Chart-based language. We find that while Blockly is able to express large and complex real-world robot programs, a major contributing factor is not just the language itself but the presentation of the robot's run-time environment as well as support by the development environment (i.e., editor). Our preliminary user experiment has identified a set of challenges in understanding and changing such programs that we now plan to follow-up with a larger user study.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124187855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Message from the RoSE 2021 Chairs 来自2021年玫瑰主席的信息

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/rose52553.2021.00005

A. Angerer, Federico Ciccozzi, I. Malavolta, A. Wortmann

引用次数: 0

Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics 基于组件的ArmAssist的Papyrus机器人系统体系结构和安全契约建模

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00009

Jabier Martinez, A. Ruiz, Ainara Garzo, T. Keller, A. Radermacher, Stefano Tonetta

引用次数: 1

Inferred Interactive Controls Through Provenance Tracking of ROS Message Data 通过对ROS消息数据的来源跟踪来推断交互控制

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00018

Thomas E. F. Witte, M. Tichy

{"title":"Inferred Interactive Controls Through Provenance Tracking of ROS Message Data","authors":"Thomas E. F. Witte, M. Tichy","doi":"10.1109/RoSE52553.2021.00018","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00018","url":null,"abstract":"Interactive controls that enrich visualizations need domain knowledge to create a sensible visual representation, as well as access to parameters and data to manipulate. However, source data and the means to visualize them are often scattered across multiple components, making it hard to link a value change in the interface to the appropriate source data. Provenance, the documentation of the origin and history of message data, can be used to reverse the evaluation of a value and change it at its source. We present a communication pattern as well as a C++ support library for ROS to track the provenance of message data across multiple nodes and apply source changes, reversing any transformation on the tracked data. We demonstrate that it is possible to automatically infer interactive 3D user interfaces from standard, non-interactive ROS visualizations by leveraging this additional tracking information. Preliminary results from a prototypical implementation of multiple origin tracking enabled ROS nodes indicate, that this tracking introduces a significant but still practicable message size and serialization performance overhead. To apply this tracking to existing C++ codebases only small, syntactic changes are necessary: a wrapper type around tracked values hides all necessary bookkeeping.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Architecture for Emergency Control of Autonomous UAV Ensembles**This work is partly funded by the German Research Foundation (DFG) under the COMBO grant 自主无人机系统应急控制体系结构**这项工作由德国研究基金会(DFG)在COMBO资助下部分资助

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00014

Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, W. Reif

{"title":"Architecture for Emergency Control of Autonomous UAV Ensembles**This work is partly funded by the German Research Foundation (DFG) under the COMBO grant","authors":"Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, W. Reif","doi":"10.1109/RoSE52553.2021.00014","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00014","url":null,"abstract":"Applying unmanned aerial vehicles (UAV) has benefits for many different use-cases. Existing implementations of ground control stations (GCS) to manage UAVs in such scenarios already provide some support for the operation of multi-unit systems, i.e., ensembles. However, since they are usually designed for the operation of only one copter at once, this is often not sufficient to react quickly in dangerous situations, e.g., search and rescue scenarios. To address this problem, we propose an approach for easy observation and control of complete autonomous UAV ensembles: The Intention of our approach is to greatly reduce the number of personnel required for the operation of an UAV ensemble. Thereby, we generate the possibility for rapid intervention in potentially dangerous situations in order to prevent damage to the UAVs and the environment. In this paper, we present a software architecture for this safety-critical multi UAV ground control station including a fully implemented prototype which we also tested in a realistic environment.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114993443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Specifying QoS Requirements and Capabilities for Component-Based Robot Software 为基于组件的机器人软件指定QoS要求和功能

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00012

Samuel Parra, Sven Schneider, N. Hochgeschwender

{"title":"Specifying QoS Requirements and Capabilities for Component-Based Robot Software","authors":"Samuel Parra, Sven Schneider, N. Hochgeschwender","doi":"10.1109/RoSE52553.2021.00012","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00012","url":null,"abstract":"Assembling robotic multi-agent systems is becoming increasingly attractive due to the emergence of affordable robots. For coordinated missions such fleets usually have to communicate over unreliable channels and still achieve adequate performance. To support system designers in quantifying adequateness, in this paper we present a domain-specific language (DSL) that allows domain-experts to specify (i) quality of service (QoS) requirements of the communication channels; and (ii) QoS capabilities of the involved software components. Such QoS specifications complement the QoS management that has recently been introduced into ROS 2. To fully utilize this approach we have also developed an associated ROS 2 DSL which enables us to verify QoS specifications and provide feedback to the users already at design time. We have evaluated the developed language workbench following the Goal-Question-Metric (GQM) approach which demonstrates that the QoS DSL is complete with respect to ROS 2 and can be easily extended. Additionally, we generate a proof-of-concept implementation for a QoS monitor that can be seamlessly integrated into existing ROS 2 projects.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123029480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6