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An Architecture-oriented Approach to System Integration in Collaborative Robotics Research Projects: An Experience Report
Högskolan i Skövde, Institutionen för informationsteknologi. Högskolan i Skövde, Forskningscentrum för Informationsteknologi. (Interaction Lab)
Högskolan i Skövde, Institutionen för informationsteknologi. Högskolan i Skövde, Forskningscentrum för Informationsteknologi. (Interaction Lab)ORCID-id: 0000-0002-6568-9342
Högskolan i Skövde, Institutionen för informationsteknologi. Högskolan i Skövde, Forskningscentrum för Informationsteknologi. (Interaction Lab)ORCID-id: 0000-0002-1227-6843
Högskolan i Skövde, Institutionen för informationsteknologi. Högskolan i Skövde, Forskningscentrum för Informationsteknologi. (Interaction Lab)ORCID-id: 0000-0003-1177-4119
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2015 (Engelska)Ingår i: Journal of Software Engineering for Robotics, ISSN 2035-3928, E-ISSN 2035-3928, Vol. 6, nr 1, s. 15-32Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Effective system integration requires strict adherence to strong software engineering standards, a practice not much favoured in many collaborative research projects. We argue that component-based software engineering (CBSE) provides a way to overcome this problem because it provides flexibility for developers while requiring the adoption of only a modest number of software engineering practices. This focus on integration complements software re-use, the more usual motivation for adopting CBSE. We illustrate our argument by showing how a large-scale system architecture for an application in the domain of robot-enhanced therapy for children with autism spectrum disorder (ASD) has been implemented. We highlight the manner in which the integration process is facilitated by the architecture implementation of a set of placeholder components that comprise stubs for all functional primitives, as well as the complete implementation of all inter-component communications. We focus on the component-port-connector meta-model and show that the YARP robot platform is a well-matched middleware framework for the implementation of this model. To facilitate the validation of port-connector communication, we configure the initial placeholder implementation of the system architecture as a discrete event simulation and control the invocation of each component’s stub primitives probabilistically. This allows the system integrator to adjust the rate of inter-component communication while respecting its asynchronous and concurrent character. Also, individual ports and connectors can be periodically selected as the simulator cycles through each primitive in each sub-system component. This ability to control the rate of connector communication considerably eases the task of validating component-port-connector behaviour in a large system. Ultimately, over and above its well-accepted benefits for software re-use in robotics, CBSE strikes a good balance between software engineering best practice and the socio-technical problem of managing effective integration in collaborative robotics research projects. 

Ort, förlag, år, upplaga, sidor
Dalmine, 2015. Vol. 6, nr 1, s. 15-32
Nyckelord [en]
best practice in robotics, model-driven engineering, component-based software engineering, discrete event simulation, YARP, component-port-connector model
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Teknik; Interaction Lab (ILAB)
Identifikatorer
URN: urn:nbn:se:his:diva-11922OAI: oai:DiVA.org:his-11922DiVA, id: diva2:902997
Projekt
European Commission, Project 611391: DREAM — Development of Robot-enhanced Therapy for Children with Autism Spectrum Disorders
Forskningsfinansiär
EU, FP7, Sjunde ramprogrammet, 611391Tillgänglig från: 2016-02-12 Skapad: 2016-02-12 Senast uppdaterad: 2018-08-03Bibliografiskt granskad

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Vernon, DavidBilling, ErikHemeren, PaulThill, SergeZiemke, Tom

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Vernon, DavidBilling, ErikHemeren, PaulThill, SergeZiemke, Tom
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