[en] In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, het-
erogeneity, deployment, modeling and analysis of emerging effects as well as functional safety and to combine all aspects into an overall development approach. The architecture shall capture the complexity caused by the autonomy and mobility of the robot and support the developer with a suitable chain of evidence especially suited for the safety relevant functions. A use case comprising a lightweight robotic manipulator which will be integrated in a mobile service robot underlines the feasibility of this approach.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
GRIBOV, Vladislav ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
VOOS, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Language :
English
Title :
A Multilayer Software Architecture for Safe Autonomous Robots
Publication date :
September 2014
Event name :
19th IEEE International Conference on Emerging Technologies and Factory Automation
Event organizer :
IEEE
Event place :
Barcelona, Spain
Event date :
from 16-09-2014 to 19-09-2014
Audience :
International
Main work title :
Proceedings of 19th IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona, Spain, 16-19 Sept. 2014
ISO 13482:2014. Robots and robotic devices-Safety requirements for personal care robot, 2014.
R. Alami, R. Chatila, S. Fleury, M. Ghallab, and F. Ingrand. An architecture for autonomy. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 17:315-337, 1998.
C. Atkinson, C. Bunse, C. Peper, and H.-G. Gross. Component-based software development for embedded systems-an introduction. In C. Atkinson, C. Bunse, H.-G. Gross, and C. Peper, editors, Component-Based Software Development for Embedded Systems, volume 3778, pages 1-7. Springer Berlin Heidelberg, Berlin, Heidelberg, 2005.
S. Bensalem, M. Gallien, F. Ingrand, I. Kahloul, and N. Thanh-Hung. Designing autonomous robots. IEEE Robotics Automation Magazine, 16(1):67-77, Mar. 2009.
R. Bischoff, T. Guhl, E. Prassler, W. Nowak, G. Kraetzschmar, H. Bruyninckx, P. Soetens, M. Haegele, A. Pott, P. Breedveld, J. Broenink, D. Brugali, and N. Tomatis. BRICS-best practice in robotics. In Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), pages 1-8.
A. Brooks, T. Kaupp, A. Makarenko, S. Williams, and A. OrebÃd'ck. Orca: A component model and repository. In D. Brugali, editor, Software Engineering for Experimental Robotics, volume 30, pages 231-251. Springer Berlin Heidelberg, Berlin, Heidelberg, 2007.
D. Brugali. Software Engineering for Experimental Robotics. Springer, 1 edition, Mar. 2007.
H. Bruyninckx, P. Soetens, and B. Koninckx. The realtime motion control core of the orocos project. In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, volume 2, pages 2766-2771 vol.2, Sept. 2003.
S. Dhouib, S. Kchir, S. Stinckwich, T. Ziadi, and M. Ziane. RobotML, a domain-specific language to design, simulate and deploy robotic applications. In I. Noda, N. Ando, D. Brugali, and J. J. Kuffner, editors, Simulation, Modeling, and Programming for Autonomous Robots, number 7628 in Lecture Notes in Computer Science, pages 149-160. Springer Berlin Heidelberg, Jan. 2012. 00004.
DIN EN ISO 10218-1. Robots for industrial environments-safety requirements-part 1: Robot. Technical report, DIN German Institute for Standardization, Berlin, July 2009.
B. Gerkey, R. Vaughan, and A. Howard. The Player/Stage project: Tools for multi-robot and distributed sensor systems. PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, pages 317-323, 2003.
H. Giese, M. Tichy, and D. Schilling. Compositional hazard analysis of UML component and deployment models. In M. Heisel, P. Liggesmeyer, and S. Wittmann, editors, Computer Safety, Reliability, and Security, volume 3219 of Lecture Notes in Computer Science, pages 166-179. Springer Berlin / Heidelberg, 2004.
V. Gribov and H. Voos. Safety oriented software engineering process for autonomous robots. In 2013 IEEE 18th Conference on Emerging Technologies Factory Automation (ETFA), pages 1-8, Sept. 2013.
L. Grunske, B. Kaiser, and R. H. Reussner. Specification and evaluation of safety properties in a componentbased software engineering process. In C. Atkinson, C. Bunse, H.-G. Gross, and C. Peper, editors, Component-Based Software Development for Embedded Systems, volume 3778, pages 249-274. Springer Berlin Heidelberg, Berlin, Heidelberg, 2005.
J. Guiochet, D. Martin-Guillerez, and D. Powell. Experience with model-based user-centered risk assessment for service robots. In 2010 IEEE 12th International Symposium on High-Assurance Systems Engineering (HASE), pages 104-113, 2010.
I. Habli. Model-Based Assurance of Safety-Critical Product Lines. PhD thesis, Department of Computer Science,University of York, 2009.
C. Harper and G. Virk. Towards the development of international safety standards for a human robot interaction. International Journal of Social Robotics, 2(3):229-234, June 2010.
T. P. Kelly. Arguing Safety-A Systematic Approach to Managing Safety Cases. PhD thesis, 1998.
S. Kim and P. H. Chang. Safety-Ensuring systematic design for service robots. In Proceedings of the 6th international conference on Smart Homes and Health Telematics, ICOST '08, pages 208-217, Berlin, Heidelberg, 2008. Springer-Verlag.
C. Lesire, D. Doose, and H. Casse. Validation of real-time properties of a robotic software architecture. May 2011.
S. Lu, W. Halang, H.-W. Schmidt, and R. Gumzej. A component-based approach to specify hazards in the design of safety-critical systems. In 2005 3rd IEEE International Conference on Industrial Informatics, 2005. INDIN '05, pages 680-685, 2005.
R. Lutz. Extending the product family approach to support safe reuse. JOURNAL OF SYSTEMS AND SOFTWARE, 53:207-217, 2000.
R. Lutz. Software engineering for safety: A roadmap. Proceedings of the Conference on The Future of Software Engineering, pages 213-226, 2000. ACM ID: 336556.
D. Martin-Guillerez, J. Guiochet, D. Powell, and C. Zanon. A UML-based method for risk analysis of human-robot interactions. In Proceedings of the 2nd International Workshop on Software Engineering for Resilient Systems, SERENE '10, page 32-A Ş41, New York, NY, USA, 2010. ACM.
A. Mekki-Mokhtar, J. Blanquart, J. Guiochet, D. Powell, and M. Roy. Safety trigger conditions for critical autonomous systems. In 2012 IEEE 18th Pacific Rim International Symposium on Dependable Computing (PRDC), pages 61-69, 2012.
Morgan Quigley, Ken Conley, Brian P. Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y. Ng. ROS: An open-source robot operating system. 2009.
I. A. D. Nesnas. The CLARAty project: Coping with hardware and software heterogeneity. In D. Brugali, editor, Software Engineering for Experimental Robotics, volume 30, pages 31-70. Springer Berlin Heidelberg, Berlin, Heidelberg, 2007.
OMG. Robotic interaction service (RoIS). Technical Report Version 1.0, OMG, Feb. 2013.
R. Panesar-Walawege, M. Sabetzadeh, and L. Briand. Using Model-Driven engineering for managing safety evidence: Challenges, vision and experience. In Software Certification (WoSoCER), 2011 First International Workshop on, pages 7-12, Dec. 2011.
R. Panesar-Walawege, M. Sabetzadeh, L. Briand, and T. Coq. Characterizing the chain of evidence for software safety cases: A conceptual model based on the IEC 61508 standard. In 2010 Third International Conference on Software Testing, Verification and Validation (ICST), pages 335-344, Apr. 2010.
F. Py and F. Ingrand. Dependable execution control for autonomous robots. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), volume 2, pages 1136-1141, 2004.
C. Raspotnig and A. Opdahl. Supporting failure mode and effect analysis: A case study with failure sequence diagrams. In B. Regnell and D. Damian, editors, Requirements Engineering: Foundation for Software Quality, volume 7195 of Lecture Notes in Computer Science, pages 117-131. Springer Berlin / Heidelberg, 2012.
C. Schlegel, A. Steck, D. Brugali, and A. Knoll. Design abstraction and processes in robotics: From Code-Driven to Model-Driven engineering. In N. Ando, S. Balakirsky, T. Hemker, M. Reggiani, and O. Stryk, editors, Simulation, Modeling, and Programming for Autonomous Robots, volume 6472, pages 324-335. Springer Berlin Heidelberg, Berlin, Heidelberg, 2010.
B. Siciliano and O. Khatib. Springer Handbook of Robotics. Springer, 1 edition, June 2008.
K. Thramboulidis and S. Scholz. Integrating the 3+1 SysML view model with safety engineering. In 2010 IEEE Conference on Emerging Technologies and Factory Automation (ETFA), pages 1-8. IEEE, Sept. 2010.
H. Voos and P. Ertle. Online risk assessment for safe autonomous mobile robots-a perspective. In 7th Workshop on Advanced Control and Diagnosis, Zielona GÃşra, PL, 2009.
W. Wu and T. Kelly. Safety tactics for software architecture design. In in Proceedings of the 28th Annual International Computer Software and Applications Conference, (Hong Kong, 2004), IEEE Computer Society, pages 368-375. IEEE Computer Society, 2004.
N. Yakymets, S. Dhouib, H. Jaber, and A. Lanusse. Modeldriven safety assessment of robotic systems. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1137-1142, Nov. 2013.
