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| * Contributors: |
| * Martin Lowe (Eclipse Foundation) - Initial implementation |
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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> |
| |
| <div class="margin-bottom-20"> |
| <?php print $Theme->getShareButtonsHTML(); ?> |
| </div> |
| <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'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> |