2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)最新文献

UAV Inspection of Large Components: Determination of Alternative Inspection Points and Online Route Optimization 大型部件无人机巡检:备选检测点确定与在线路径优化

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00012

Martin Schörner, Constantin Wanninger, Raphael Katschinsky, Simon Hornung, Christian Eymüller, Alexander Poeppel, W. Reif

{"title":"UAV Inspection of Large Components: Determination of Alternative Inspection Points and Online Route Optimization","authors":"Martin Schörner, Constantin Wanninger, Raphael Katschinsky, Simon Hornung, Christian Eymüller, Alexander Poeppel, W. Reif","doi":"10.1109/RoSE59155.2023.00012","DOIUrl":"https://doi.org/10.1109/RoSE59155.2023.00012","url":null,"abstract":"Automation is playing an increasing role in the field of quality assurance. For the visual inspection of larger assemblies such as aircraft fuselages or ship hulls, the use of UAVs is an option. This paper deals with one aspect of the UAV-supported inspection of assemblies in production. Here, newly added components have to be checked for correct assembly. The planning of the shortest possible route from which all components to be inspected can be viewed as well as the estimation of the UAV’s position relative to the component have already been presented in previous work. We propose strategies that can be used if an inspection point cannot be reached by the UAV or the component to be inspected cannot be seen by the UAV’s camera from the inspection point. For this purpose, we generate alternative inspection points that can be used if errors occur during the inspection from the original inspection point. To achieve this, we present a metric that can be used to select an alternative inspection point that is as suitable as possible. We conclude by demonstrating how this strategy works by evoking different failure cases in a simulated environment.","PeriodicalId":332212,"journal":{"name":"2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130348906","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: 0

EDDE: An Event-Driven Data Exchange to Accurately Introspect Cobot Applications EDDE:一个事件驱动的数据交换，以准确地内省协作机器人应用程序

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00009

Emil Stubbe Kolvig Raun, M. Kjærgaard, Ralph Brorsen

引用次数: 0

ROMoSu: Flexible Runtime Monitoring Support for ROS-based Applications ROMoSu:为基于ros的应用程序提供灵活的运行时监控支持

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00013

Marco Stadler, Michael Vierhauser

{"title":"ROMoSu: Flexible Runtime Monitoring Support for ROS-based Applications","authors":"Marco Stadler, Michael Vierhauser","doi":"10.1109/RoSE59155.2023.00013","DOIUrl":"https://doi.org/10.1109/RoSE59155.2023.00013","url":null,"abstract":"ROS-based robotic applications are becoming increasingly common in various different application domains, performing diverse tasks. Examples include autonomous vehicles, small unmanned systems, as well as industrial applications of Cyber-Physical Production Systems. What all these systems have in common is their tight integration between hardware and software components, and close interactions with humans, e.g., on a shop floor, or autonomously driving robots as part of a warehouse system. This, in turn, requires monitoring the behavior of the system at runtime and ensuring that it behaves according to its specified requirements. However, establishing and maintaining runtime monitoring support is a non-trivial task, requiring significant up-front investment and extensive domain knowledge. To alleviate this problem, in this paper, we present ROMoSu, a flexible runtime monitoring framework for ROS-based systems that allows defining multiple scenarios, or application-specific configurations, taking into account different monitoring needs, and provides tool support for creating, maintaining, and managing configurations at runtime. As part of our evaluation, we have conducted experiments with three different use cases, of both physical and simulated applications. Results confirm that ROMoSu can be successfully used to create monitoring configurations with little effort, create efficient monitors, and perform constraint checks based on the collected runtime data.","PeriodicalId":332212,"journal":{"name":"2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)","volume":"48 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132801803","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: 0

Survey on Robotic Systems Integration 机器人系统集成研究综述

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00007

N. Garcia, A. Wortmann

引用次数: 0

Getting Started with ROS2 Development: A Case Study of Software Development Challenges 入门ROS2开发:软件开发挑战的案例研究

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00011

Paulius Daubaris, S. Linkola, Anna Kantosalo, Niko Mäkitalo

{"title":"Getting Started with ROS2 Development: A Case Study of Software Development Challenges","authors":"Paulius Daubaris, S. Linkola, Anna Kantosalo, Niko Mäkitalo","doi":"10.1109/RoSE59155.2023.00011","DOIUrl":"https://doi.org/10.1109/RoSE59155.2023.00011","url":null,"abstract":"ROS2 has started to gain attention from the industry as it fosters robot software development. Companies seek to use ROS2 in real products, thus increasing the need for ROS2-related skills. We investigate what kind of challenges junior software developers – i.e. computer science majors on one of their last B.Sc study modules – encounter when learning robotics using ROS2. We conduct a case study with a group of five students with a project goal to develop a robotic application utilizing an agile software development process. We inquire about the challenges after the project using semi-structured interviews. By analyzing the interviews we identified 87 development challenge instances that can be roughly divided into challenges caused by insufficient or misinterpreted documentation and challenges encountered during the development process or usage of ROS2 and its packages. Hence, based on the results, we suggest that the ROS2 community should invest in an integrated resource to help with ROS2 development and patch up the currently fragmented documentation of individual packages in order for it to be adopted more easily as a technology by junior software developers.","PeriodicalId":332212,"journal":{"name":"2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132984673","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: 0

Augmenting Robot Software Development Process with Flexbot 使用Flexbot增强机器人软件开发过程

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00015

Paulius Daubaris, J. Helovuo, Niko Mäkitalo

引用次数: 0

Towards the Concept of Trust Assurance Case 对信托保证案例概念的探讨

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00005

Emilia Cioroaica, Barbora Buhnova, Daniel Schneider, E. Tomur, Ioannis Sorokos, T. Kuhn

引用次数: 0

Enhancing the technological maturity of robot swarms 提高机器人群的技术成熟度

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00006

D. Bozhinoski, M. Birattari

引用次数: 0

An Analysis of Behaviour-Driven Requirement Specification for Robotic Competitions 机器人竞赛行为驱动需求规范分析

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00008

Minh Nguyen, N. Hochgeschwender, S. Wrede

引用次数: 0

EzSkiROS: A Case Study on Embedded Robotics DSLs to Catch Bugs Early EzSkiROS:嵌入式机器人dsl早期发现bug的案例研究

2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2023-05-01 DOI: 10.1109/RoSE59155.2023.00014

Momina Rizwan, Ricardo Caldas, Christoph Reichenbach, Matthias Mayr

{"title":"EzSkiROS: A Case Study on Embedded Robotics DSLs to Catch Bugs Early","authors":"Momina Rizwan, Ricardo Caldas, Christoph Reichenbach, Matthias Mayr","doi":"10.1109/RoSE59155.2023.00014","DOIUrl":"https://doi.org/10.1109/RoSE59155.2023.00014","url":null,"abstract":"When we develop general-purpose robot software components, we rarely know the full context that they will execute in. This limits our ability to make predictions, including our ability to detect program bugs early. Since running a robot is an expensive task, finding errors at runtime can prolong the debugging loop or even cause safety hazards. In this paper, we propose an approach to help developers find bugs early with minimal additional effort by using embedded Domain-Specific Languages (DSLs) that enforce early checks. We describe DSL design patterns suitable for the robotics domain and demonstrate our approach for DSL embedding in Python, using a case study on an industrial tool SkiROS2, designed for the composition of robot skills. We demonstrate our patterns on the embedded DSL EzSkiROS and show that our approach is effective in performing safety checks while deploying code on the robot, much earlier than at runtime. An initial study with SkiROS2 developers show that our DSL-based approach is useful for early bug detection and improving the maintainability of robot code.","PeriodicalId":332212,"journal":{"name":"2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130987593","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