MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022107

Shifu Liu, Sebastian Wiesenhütter, J. Noennig

引用次数: 0

Stochastic Error Propagation Analysis of Model-driven Space Robotic Software Implemented in Simulink 基于Simulink的模型驱动空间机器人软件的随机误差传播分析

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022103

A. Morozov, K. Janschek, T. Krüger, A. Schiele

{"title":"Stochastic Error Propagation Analysis of Model-driven Space Robotic Software Implemented in Simulink","authors":"A. Morozov, K. Janschek, T. Krüger, A. Schiele","doi":"10.1145/3022099.3022103","DOIUrl":"https://doi.org/10.1145/3022099.3022103","url":null,"abstract":"Model-driven software development methods are widely used in safety-critical domains including space robotics. The MATLAB Simulink environment is the common choice of control engineers. This article introduces a new method for a fully automatic transformation of a Simulink model to a dual-graph model for stochastic error propagation analysis. The error propagation analysis provides important inputs for system reliability methods, required by industrial standards such as FTA and FMEA. The dual-graph error propagation model is a mathematical abstraction of key system design aspects that influence error propagation processes: control flow, data flow, and component-level reliability properties. This model helps to estimate the likelihood of error propagation to hazardous system parts and quantify the negative impact of a fault in a particular component on the overall system reliability. In praxis, the manual creation of an error propagation model of a complex system requires a huge effort. The transformation method, introduced in this article, is a fast and promising solution. The method is demonstrated as a part of a stochastic analysis of a real-world model-driven space robotic software.","PeriodicalId":361389,"journal":{"name":"MORSE '16","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129136750","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: 10

Multi-Agent Plan Verification with Answer Set Programming 基于答案集规划的多智能体计划验证

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022104

S. Opfer, S. Niemczyk, K. Geihs

引用次数: 9

Domain-Specific Modeling for Robotics: From Language Construction to Ready-made Controllers and End-user Applications 机器人领域特定建模:从语言构建到现成的控制器和最终用户应用

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022106

Verislav Djukić, A. Popovic, Juha-Pekka Tolvanen

引用次数: 7

Appropriate Design Guided by Simulation: An Hovercraft Application 以仿真为指导的合理设计:气垫船应用

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022100

Julien Alexandre Dit Sandretto, Douglas Picciani de Suza, Alexandre Chapoutot

引用次数: 1

Model-driven Structural and Statistical Testing of Robot Cooperation and Reconfiguration 机器人协作与重构的模型驱动结构与统计检验

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022102

F. Saglietti, Matthias Meitner

引用次数: 6

A knowledge-based architecture supporting declarative action representation for manipulation of everyday objects 一种基于知识的体系结构，支持用于操作日常对象的声明性操作表示

MORSE '16 Pub Date : 2016-07-01 DOI: 10.1145/3022099.3022105

Binal Javia, P. Cimiano

{"title":"A knowledge-based architecture supporting declarative action representation for manipulation of everyday objects","authors":"Binal Javia, P. Cimiano","doi":"10.1145/3022099.3022105","DOIUrl":"https://doi.org/10.1145/3022099.3022105","url":null,"abstract":"We present a new knowledge-based robot architecture that relies on ontologies and logical programming to represent robot behavior in a declarative fashion. Most state-of-the-art robot architectures, instead, build on very detailed procedural descriptions of robot behavior which are created at design time and typically do not generalize well across new situations. A declarative approach that produces actual robot behavior as a result of reasoning instead can produce many different behaviors that are adapted to the particular context and situation without having to model all influencing factors at design time. Further, this approach allows to add further knowledge or further primitives in a modular fashion. This simplifies the design of complex systems as the behaviour needs to be described at a higher-level of abstraction instead of by very detailed and specific procedures. The actual behaviour is then generated at runtime as a result of interpretation of logical programs. In our architecture we rely on Prolog to represent action knowledge, on (Horn) rules to represent actions and on Prolog resolution to infer execution plans at runtime. In this paper we present a first version of our architecture. As proof-of-concept we demonstrate how to apply it to generate pick-and-place behavior in a simulated environment.","PeriodicalId":361389,"journal":{"name":"MORSE '16","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114542355","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: 5

Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot Interactions 基于智能agent的人机交互机器人软件测试方法

MORSE '16 Pub Date : 2016-04-19 DOI: 10.1145/3022099.3022101

Dejanira Araiza-Illan, A. Pipe, K. Eder

引用次数: 27

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