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Model-driven safety assessment of robotic systems

N. Yakymets, S. Dhouib, H. Jaber, A. Lanusse
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The methodology relies upon model-driven engineering approach and describes a preliminary safety assessment of safety-critical RSs using fault tree (FT) analysis (FTA).  ...  Robotic systems (RSs) are often used for performing critical tasks with little or no human intervention.  ...  To implement the proposed methodology, we develop a safety modeling framework which automates safety assessment of robotic applications in the RobotML-based modeling environment.  ... 
doi:10.1109/iros.2013.6696493 dblp:conf/iros/YakymetsDJL13 fatcat:afi7vhha3ngb7f7d6ide6yj7qe

Model-driven analysis and design for software development of autonomous underwater vehicles

Francisco J. Ortiz, Carlos C. Insaurralde, Diego Alonso, Francisco Sánchez, Yvan R. Petillot
2014 Robotica (Cambridge. Print)  
Component-based software engineering and model-driven software development are two paradigms suitable to deal with such challenges.  ...  The software development stages are carried out by using a model-driven toolchain that provides support to design and build component-based software for robotics applications.  ...  Model-Driven Software Development (MDSD), however, has an incremental rate of interest in robotics.  ... 
doi:10.1017/s0263574714001027 fatcat:yx62qpafnfgcngv5ytwzcnzsbi

Safety oriented software engineering process for autonomous robots

Vladislav Gribov, Holger Voos
2013 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)  
Combined with a safe multilayer robot software architecture it allows to trace the safety requirements and to model safety relevant properties on the early design stages in order to build a reliable chain  ...  In this paper, a safety oriented model based software engineering process for autonomous robots is proposed.  ...  We have proposed a model based approach to the safety case on the example of the ISO IDIS 13482, the component-based multi-level safe robot software architecture, the interconnected repositories for store  ... 
doi:10.1109/etfa.2013.6647969 dblp:conf/etfa/GribovV13 fatcat:kqlfczd3cffd3avquo7vqjowsa

Model-driven development with predictable quality

James Ivers, Gabriel A. Moreno
2007 Companion to the 22nd ACM SIGPLAN conference on Object oriented programming systems and applications companion - OOPSLA '07  
The PACC Starter Kit is an eclipse-based development environment that combines a model-driven development approach with reasoning frameworks that apply performance, safety, and security analyses.  ...  These analyses predict runtime behavior based on specifications of component behavior and are accompanied by some measure of confidence.  ...  We are also indebted to all those developing the tools that we've built on.  ... 
doi:10.1145/1297846.1297933 dblp:conf/oopsla/IversM07 fatcat:4zidf2idhffnzc2bcchcmboxlu

Model-Driven Development of Intelligent Mobile Robot Using Systems Modeling Language (SysML) [chapter]

Mohd Azizi Abdul Rahman, Katsuhiro Mayama, Takahiro Takasu, Akira Yasuda, Makoto Mizukaw
2011 Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training  
The proposed mobile robot software system is fully based on model-driven engineering methodology to overcome the current difficulties of mobile robot development.  ...  MDA approach www.intechopen.com Model-Driven Development of Intelligent Mobile Robot Using Systems Modeling Language (SysML) 23 PIM describes higher abstraction level of a system design than a program  ...  /model-driven-development-of-intelligent-mobile-robot-using-systemsmodeling-language-sysml-  ... 
doi:10.5772/26906 fatcat:gbginy4jibet7ctzwvyzoib4gu

Modeling of movement control architectures based on motion primitives using domain-specific languages

Arne Nordmann, Sebastian Wrede, Jochen Steil
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and  ...  flexible control of complex and compliant robots.  ...  The overarching goal of our work is to establish a model-driven development process focused on motion control architectures based on motion primitives.  ... 
doi:10.1109/icra.2015.7139899 dblp:conf/icra/NordmannWS15 fatcat:t7ulrxjn2bcvnktu6yktmjl7xu

Task Engagement as Personalization Feedback for Socially-Assistive Robots and Cognitive Training

Konstantinos Tsiakas, Maher Abujelala, Fillia Makedon
2018 Technologies  
We illustrate the framework with a cognitive training task, describing our data-driven methodology (data collection and analysis, user simulation) towards designing our proposed real-time system.  ...  Socially-assistive robotics has been developed to improve user performance through the use of physiological signals [3], considering the Yerkes-Dodson law, which links human arousal and task performance  ...  Discussion and Future Work In this work, we presented the developmental process of a data-driven SAR system for personalized robot-assisted training.  ... 
doi:10.3390/technologies6020049 fatcat:yhttgwt36bcahldqglq6aelkha

Software Engineering for Robotic Systems:a systematic mapping study [article]

Marcela G. dos Santos, Fabio Petrillo
2021 arXiv   pre-print
The robot software complexity increases the difficulty of engineering the robot's software components with quality requirements.  ...  Secondly, we show a catalogue of research studies that apply software engineering techniques in the robotic domain, classified with the SWEBOK guide.  ...  Thus, the SWEBOK is more cited in our set of studies was Software Design with 60% of the studies, and the techniques applied in the software design area are UML, model-driven development, component-based  ... 
arXiv:2102.12520v1 fatcat:ux3f5tr3snftxpmk4y26vcgtw4

Software architectures for robotic systems: A systematic mapping study

Aakash Ahmad, Muhammad Ali Babar
2016 Journal of Systems and Software  
The research in this area has progressed from object oriented to component based and now to service driven robotics representing different architectural generations.  ...  We carried out a Systematic Mapping Study to identify and analyze the relevant literature based on 56 peer-reviewed papers.  ...  Pooyan Jamshidi (affiliated with: Lero -the Irish Software Engineering Research Centre, Dublin City University, Ireland) for his feedback and thoughtful suggestions throughout the development and evaluation  ... 
doi:10.1016/j.jss.2016.08.039 fatcat:y56vk7pzfvgf3kykwwxiwxdvvu

Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model

Longbin Zhang, Wen Qi, Yingbai Hu, Yue Chen, Ning Wang
2020 Complexity  
This paper developed a disturbance-observer-based fuzzy control framework for a robot manipulator using an electromyography- (EMG-) driven neuromusculoskeletal (NMS) model.  ...  The developed control algorithm was validated with a 2-DOFs robot manipulator in simulation.  ...  Conflicts of Interest e authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflicts of interest.  ... 
doi:10.1155/2020/8814460 fatcat:sz22llouy5au7ik4en7guhcmqu

Supporting Robotic Software Migration Using Static Analysis and Model-Driven Engineering [article]

Sophie Wood, Nicholas Matragkas, Dimitris Kolovos, Richard Paige, Simos Gerasimou
2020 arXiv   pre-print
Our RoboSMi model-driven approach supports the migration of the software controlling a robotic system between hardware platforms.  ...  By analysing a model that expresses the architecture of robotic components on the target platform, RoboSMi establishes the hardware configuration of those components and suggests software libraries for  ...  The static analysis is driven by the C/C++ Development Tooling (CDT) model driver of the Epsilon platform [23] specifically developed to support RoboSMi.  ... 
arXiv:2008.02164v1 fatcat:jt77veppqndjhnwvgpey7prgvi

Statistical detection of faults in swarm robots under noisy conditions

Fouzi Harrou, Belkacem Khaldi, Ying Sun, Foudil Cherif
2018 2018 6th International Conference on Control Engineering & Information Technology (CEIT)  
component analysis model.  ...  Specifically, to monitor swarm robotics systems performing a virtual viscoelastic control model for circle formation task, the proposed mechanism is applied to the uncorrelated residuals form principal  ...  In [18] , a data-driven approach based on PCA model for monitoring a robot swarm has been developed.  ... 
doi:10.1109/ceit.2018.8751862 fatcat:xwnhbq5x45cm7jwmw7usonqvwy

A Survey on AI-Driven Digital Twins in Industry 4.0: Smart Manufacturing and Advanced Robotics

Ziqi Huang, Yang Shen, Jiayi Li, Marcel Fey, Christian Brecher
2021 Sensors  
Practical challenges and development prospects of AI-driven DTs are discussed with a respective focus on different levels.  ...  As a digital replica of a physical entity, the basis of DT is the infrastructure and data, the core is the algorithm and model, and the application is the software and service.  ...  Challenges and development prospects of AI-driven DTs in smart manufacturing and advanced robotics are discussed with a respective focus on different levels. 4 .  ... 
doi:10.3390/s21196340 pmid:34640660 fatcat:qy3qiazvqrejvfuixudd6ywqsq

Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot

Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer, Juan F. Inglés-Romero, Cristina Vicente-Chicote
2015 it - Information Technology  
We describe how component based software engineering (CBSE), model-driven software development (MDSD) and domain-specific languages (DSLs) for variability management complement each other in addressing  ...  Software systems engineering and system integration is still a major challenge in robotics.  ...  Our service robot Kate is based on a P3DXplatform with a Katana 5-DoF manipulator while our service robot Larry is based on a RMP50-platform with a 6-DoF UR-manipulator.  ... 
doi:10.1515/itit-2014-1069 fatcat:7dhoibphajhgheri7cynewou4i

A Survey on AI-Driven Digital Twins in Industry 4.0: Smart Manufacturing and Advanced Robotics

Ziqi Huang, Yang Shen, Jiayi Li, Marcel Fey, Christian Brecher
2021 Sensors 21(19)  
Challenges and development prospects of AI-driven DTs in smart manufacturing and advanced robotics are discussed with a respective focus on different levels. 4 .  ...  Challenges and development prospects of AI-driven DTs in smart manufacturing and advanced robotics are discussed with a respective focus on different levels. 4.  ... 
doi:10.18154/rwth-2021-09877 fatcat:yjhprcascvfutisat7olust3kq
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