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/**
* Copyright (c) 2020 Eclipse Foundation.
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
* which is available at https://www.eclipse.org/legal/epl-2.0/
*
* Contributors:
* Martin Lowe (Eclipse Foundation) - Initial implementation
*
* SPDX-License-Identifier: EPL-2.0
*/
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<h1 class="article-title"><?php echo $pageTitle; ?></h1>
<p>
<img alt="RobMoSys logo" src="images/3_1.png" />
</p>
<p>The European Union-funded research project, RobMoSys, is a robotics
development approach that enables a major step toward an open,
industry-grade software development ecosystem for robotics. With the
RobMoSys approach, you can reduce software development complexity,
increase system predictability, and maintain flexibility, while saving
costs.</p>
<p>
The Eclipse Foundation <a
href="https://www.eclipse.org/org/research/project/">is a partner in
the RobMoSys project</a> and two Eclipse Foundation projects — <a
href="https://projects.eclipse.org/projects/modeling.smartmdsd">Eclipse
SmartMDSD </a> and <a
href="https://www.eclipse.org/papyrus/components/robotics/">Eclipse
Papyrus for Robotics</a> — can be used to implement the RobMoSys
model-driven approach to robotics software development. However, before
we explain those relationships in more detail, it’s important to
understand RobMoSys in the context of Industry 4.0.
</p>
<h2>RobMoSys Stimulates Industry 4.0 Development and Usage</h2>
<p>RobMoSys closely follows Industry 4.0 design principles:</p>
<ul>
<li>Interoperability</li>
<li>Decentralization</li>
<li>Autonomy</li>
<li>Real-time capabilities</li>
<li>Technical assistance</li>
<li>Service orientation</li>
<li>Modularity</li>
</ul>
<p>This is a key RobMoSys feature because it encourages Industry 4.0
implementations and usage. To achieve these design goals, RobMoSys is
based on two foundational principles:</p>
<ul>
<li><strong>Separation of roles and concerns</strong> allows you to
focus on your development workflow and expertise. You are not required
to become an expert in every field because different roles cover
different problem areas. Each role works autonomously and excels in
its performance.</li>
<li><strong>Composability</strong> is the ability to combine and
re-combine building blocks “as is” into different systems for
different purposes in a meaningful way. The models follow a general,
composition-oriented approach where systems can be constructed from
reusable software building blocks with explicated properties. This
allows you to use the same software components across different
systems to save software development costs and increase the
predictability of your robotics systems.</li>
</ul>
<p>In addition, there’s a very good opportunity to bring RobMoSys
contributions to the OPC Unified Architecture (OPC UA) domain and link
the robotics and automation domains. A significant part of the Industry
4.0 domain is shifting toward the OPC UA and, in general, the Industry
4.0 world that’s based on the OPC UA fully conforms with the RobMoSys
way of thinking.</p>
<h2>Eclipse Foundation Projects for Model-Driven Robotics Software
Development</h2>
<p>To follow the RobMoSys model-driven approach, you can use the Eclipse
Foundation projects described below.</p>
<h3>Eclipse SmartMDSD</h3>
<p>
The <a href="https://projects.eclipse.org/projects/modeling.smartmdsd">Eclipse
SmartMDSD</a> Toolchain is an <a
href="https://www.eclipse.org/eclipseide/"> </a> integrated
development environment (IDE) for robotics software development. It
uses the RobMoSys model-driven approach to support the different types
of people, or roles, that develop robotic systems.
</p>
<p>Robotics solution providers can use Eclipse SmartMDSD to develop
software components. Robotics system builders can use Eclipse SmartMDSD
to build systems using the software components. Both parties gain the
benefit of 20 years of best practices in robotics components and system
development.</p>
<p>Figure 1 illustrates an Eclipse SmartMDSD Toolchain simulation using
the Webots Simulator. The picture on the left shows the SmartMDSD
toolchain System Component Architecture developed with building blocks.
The picture on the right shows the Webots simulation of a TIAGo robot.</p>
<p>Figure 1:  Eclipse SmartMDSD Toolchain Simulation Using the Webots
Simulator</p>
<p>
<img alt="(No Description)" src="images/3_2.png" />
</p>
<p>
To learn more about using the SmartMDSD Toolchain with the Webots
Simulator, watch this <a
href="https://www.youtube.com/watch?v=oFLCagIU0EE">YouTube video</a>.
</p>
<h3>Eclipse Papyrus for Robotics</h3>
<p>
The <a href="https://www.eclipse.org/papyrus/components/robotics/">Eclipse
Papyrus for Robotics</a> Toolchain is an IDE for robotics software
development. It features a modeling front-end that conforms to the
RobMoSys foundational principles described above.
</p>
<p>
Eclipse Papyrus for Robotics supports model-based safety analysis
through a safety module that performs dysfunctional analysis on system
architecture components. The IDE’s performance analysis capability
supports the <a
href="https://robmosys.eu/wiki/general_principles:architectural_patterns:stepwise_management_nfp">architectural
pattern for stepwise management of extra-functional properties</a>. It
also enables analysis of end-to-end response times and resource
utilization of component compositions.
</p>
<p>The code-generation capability of the Eclipse Papyrus for Robotics
Toolchain transforms models of software component architectures,
platform descriptions, and deployment specifications into code. It
works with the Robotic Operating System 2 (ROS2) framework.</p>
<p>Figure 2 shows an Eclipse Papyrus for Robotics sequence example for a
robotic arm.</p>
<p>Figure 2: Eclipse Papyrus for Robotics Sequence Example for a Robotic
Arm</p>
<p>
<img alt="(No Description)" src="images/3_3.png" />
</p>
<p>
To see a demonstration of Papyrus for Robotics, be sure to attend the <a
href="https://www.eclipsecon.org/2020/sessions/getting-started-papyrus-robotics">
EclipseCon 2020 session</a>.
</p>
<h2>Integrated Technical Projects Leverage RobMoSys Tools and Approach</h2>
<p>
Between 2017 and 2019, RobMoSys provided <strong>financial support</strong> to
strengthen community involvement through two <a
href="https://robmosys.eu/open-calls/">open calls</a> with cascaded
funding. In the second open call for “fast adoption,” eight Integrated
Technical Projects (ITPs) were selected to implement the RobMoSys
approach in industry. The following ITPs are currently using the
RobMoSys tools and approach to achieve their objectives:
</p>
<ul>
<li><strong>Underwater Robotic Simulator for RobMoSys (UWROSYS)</strong> is
bringing a high-fidelity underwater robotic simulator with advanced
sensors into the RobMoSys framework to open the underwater domain to
RobMoSys users. This technology solves the problem of expensive and
very time-consuming underwater operations such as inspection,
maintenance, and repair.</li>
<li><strong>Mobile Inspection Robot Autonomy for Nuclear
Decommissioning Authority (MIRANDA)</strong> uses RobMoSys with
existing GMV hardware (www.GMV.com) and software to produce a system
that can run a typical field trial in the context of a nuclear site.</li>
<li><strong>Mixed Reality Implementation for RobMoSys (MR4RobMoSys)</strong> aims
to simplify interactions between humans and robots. The ITP uses an
existing bridge between ROS-Industrial and the game engine Unity
developed in a ROSIN Focused Technical Project (FTP) to implement
augmented reality (AR) and virtual reality (VR) visualization with the
help of Eclipse SmartMDSD and Eclipse Papyrus for Robotics.</li>
<li><strong>Applying a Model-Based Software Platform to Standardize the
Rehab Robot (AMBSPSRR)</strong> is adapting the Rehab Robot to a
RobMoSys-conformant pilot project based on software and tools from the
RobMoSys ecosystem.</li>
<li><strong>HRI Components for Assistive Robot (HRICAR)</strong> is
developing a set of RobMoSys models and components for human-robot
interactions.</li>
<li><strong>RoMan</strong> focuses on RobMoSys adoption in the lighting
system manufacturing industry. To prove the reusability of the
RobMoSys methodology in new robots and the benefits of its structure
for building industrial applications, this ITP is building an
industrial application with the SUMMIT-XL STEEL robotic platform in a
company that’s focused on manufacturing lighting systems.</li>
<li><strong>Experiment in Applied Modular Food Robots Applications
(EXAMFORA)</strong> is investigating use of the RobMoSys method
within the Goal-Discovering Robotic Architecture for
Intrinsically-Motivated Learning (GRAIL) Robot System, a hard
real-time system. The application is for a vision-based system that
increases the overall efficiency of an assembly system that involves
human-robot interactions by choosing paths that are least likely to
result in collisions.</li>
<li><strong>Stereovision and Radar for Affordable and Safe Navigation
(STERAS)</strong> is developing a low-cost navigation system that is
capable of simultaneous localization and mapping (SLAM). SLAM
capabilities allow mobile robots and drones to navigate autonomously
and safely through a dynamic territory in the presence of dynamic
objects such as other robots, humans, or cars.</li>
</ul>
<h2>Learn More and Get Involved</h2>
<p>
To learn more about RobMoSys, join our <a
href="https://discourse.robmosys.eu/">public discussion forum </a> and
check out our <a href="https://robmosys.eu/events/">upcoming events</a>.
</p>
<p>
To learn more about the Eclipse SmartMDSD project, click <a
href="https://projects.eclipse.org/projects/modeling.smartmdsd">here</a>.
</p>
<p>
To learn more about Eclipse Papyrus for Robotics, visit the project’s <a
href="https://robmosys.eu/wiki/community:start">Community Corner</a>.
</p>
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<div class="bottomitem margin-bottom-20">
<h3>About the Author</h3>
<div class="row">
<div class="col-sm-24">
<div class="row margin-bottom-20">
<div class="col-sm-8">
<img class="img img-responsive" alt="Dr. Luz Martinez"
src="images/3_4.png" />
</div>
<div class="col-sm-16">
<p class="author-name">Dr. Luz Martinez</p>
<p class="author-bio">Dr. Luz Martinez graduated with a PhD degree
in Robotics and Computer Vision from the University of Chile in
2019. She is currently working as the Chair of Robotics,
Artificial Intelligence, and Real-Time Systems at the Technical
University of Munich (TUM). She has been working on a perception
stack for the European-funded project, RobMoSys, and coordinating
the European Union project, SHOP4CF. Her research interests
include computer vision for robotic manipulation, task planning,
and human-robot interaction.</p>
</div>
</div>
<div class="row">
<div class="col-sm-8">
<img class="img img-responsive" alt="Anna Carolina"
src="images/3_5.png" />
</div>
<div class="col-sm-16">
<p class="author-name">Anna Carolina Principato</p>
<p class="author-bio">Anna Carolina Principato has a Master&#39;s
degree in Romance Philology from the Ludwig Maximilian University
of Munich. For more than 10 years, Anna has been working as an
Account Manager at global marketing communications agencies, such
as Text100 and Harvard Public Relations, supporting technology and
IT brands. Currently, she is in charge of public relations for the
European Horizon 2020 project, RobMoSys, at TUM, and has been
responsible for public relations at the European FP7 project
ECHORD++.</p>
</div>
</div>
</div>
</div>
</div>
<div class="row">
<div class="col-xs-24 col-sm-8">
<img src="images/3_6.png" alt="" class="img img-responsive" />
</div>
<div class="col-xs-24 col-sm-8">
<ul>
<li>Website: <a href="https://robmosys.eu/">robmosys.eu/</a></li>
<li>Twitter: <a href="https://www.twitter.com/RobMoSys">@RobMoSys</a></li>
<li>Youtube: <a href="https://www.youtube.com/channel/UCURqFtHgAPsXl9mB_QgbB0w/featured">RobMoSys</a></li>
</ul>
<p>Eclipse Projects:</p>
<ul>
<li><a href="https://projects.eclipse.org/projects/modeling.smartmdsd">Eclipse SmartMDSD | projects.eclipse.org</a></li>
<li><a href="https://www.eclipse.org/papyrus/components/robotics/">Papyrus for Robotics</a></li>
</ul>
</div>
<div class="col-xs-24 col-sm-8">
<img src="images/3_1.png" alt="" class="img img-responsive" />
</div>
</div>
<p>This project has received funding from European
Union's Horizon 2020 research and innovation programme under grant
agreement No 732410.</p>