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An Architecture-oriented Approach to System Integration in Collaborative Robotics Research Projects: An Experience Report
University of Skövde, School of Informatics.
University of Skövde, School of Informatics.
University of Skövde, School of Informatics.
University of Skövde, School of Informatics.
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2015 (English)In: Journal of Software Engineering for Robotics, ISSN 2035-3928, E-ISSN 2035-3928, Vol. 6, no 1, p. 15-32Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
2015. Vol. 6, no 1, p. 15-32
Keyword [en]
best practice in robotics, model-driven engineering, component-based software engineering, discrete event simulation, YARP, component-port-connector model.
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-142097OAI: oai:DiVA.org:liu-142097DiVA: diva2:1151148
Available from: 2017-10-22 Created: 2017-10-22 Last updated: 2017-11-29Bibliographically approved

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https://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=96

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Ziemke, Tom

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
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  • en-US
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  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
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