Software Engineering in Robotics - Lecture 1

7/28/2019 Software Engineering in Robotics - Lecture 1

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Software Engineering in Robotics

Introductions

Henrik I. Christensen [email protected]


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OUTLINE

Welcome Objectives of the course

Structure of the course

Material for the course

Wrap-Up


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WELCOME


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Objectives of the course

Introduction to basic software engineering Coverage of issues from design to deployment

Highlight some of the special issues for robotics

Discuss a broad set of methods as used in robotics

Design of a small system for robot navigation

Practical experience using software engineering with

Microsoft Robotics Developer Studio (RDS)


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Software Engineering

Programming vs Software Engineering Software Engineering

Systematic approach to analysis, development,

operations and maintenance

Motivation Most systems are highly complex

Expectations are often poorly defined

Quality is often a major challenge

Essential to consider all aspects up-front


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Software Engineering - Phases

Requirements analysis Systems Modeling

Functional Modeling

Implementation

Evaluation

Deployment

Maintenance

Documentation


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Life Cycle Models

Waterfall Model Prototyping Model

Iterative Enhancement Model

Spiral Life Cycle Model

Agile Software Development

Object Oriented Model


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Life Cycle Models - Aspects

Determination of system requirements Design of the system / architecture

Development of the software

Testing and Evaluation

Implementation and Maintenance

Error Distribution / Version Management


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Waterfall Model

Pros Easy to explain

Clearly staged

Easy to plan and schedule

Clear Deliverables /milestones

Cons Assumes a linear project

progression

All requirements up-front

Iterations are only implicit


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Prototyping life cycle model

Pros Direct user involvement

Good fit to user expectations

Errors detected early

Solution as user buy in

Cons Often a patched design

Management of complexity isnon-trivial


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Iterative enhancement cycle model

Pro User buy-in with clear

deliverables

Clearly defined phases /team efficiency

Cons Complex management

Code reuse not obvious


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Spiral cycle model

Pro Clear division of activities

Explicit deliverables

Cons Has potential to be costly

Could be slow toimplement


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Agile Development Model

Phases Model

Implementation incl unit

testing

Perform objective testing Transition

Deployment

Version Management

Context

Philosophy Staff is competent

Simplicity

Agility

Focus on high-value Tool independence


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Object Oriented Model

System Analysis System Design

Object Design

Implementation

Evaluation and Benchmarking

A little more details in lecture 3 (stay tuned)


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Considerations/Comparison

Agility Driven Low criticality

Experienced sw

team

Dynamicrequirements

Small team

Highly dynamic

environment

Plan Driven High criticality

Junior sw team

Mostly stable

requirements Large team

Structured

process

Formal Design Extremely

critical

Experienced sw

team

Limited features

Features can be

modeled

Extreme quality


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What makes robotics special

Physical changes to the world The systems are typically multi-objective

Requires careful consideration of architecture/data flow

Interaction with physical world and users

Two different interaction models

Component based design with different requirements

Example systems vs components (robots)

Creates disparate requirements in a systems

engineering

Emergent behavior

Multi-threaded execution / complexity


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Structure of the course Internet to Robotics Motivation/Background

Software Engineering Tools Introduction to Robotics Developer Studio

Use of simulation for system development

Process / System Models

Inter Process Communications Data Flow Models

Common Control Structures

Hardware Integration Issues

Reference Architectures

Packaging and Deployment of Systems Integration of legacy code and use of libraries

Systems Evaluation and Benchmarking

Outlook and Summary


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Exercises

Design of a robot navigation system Architecture of the system?

Simulation of the system using off-the-shelf

components

Service Design and Implementation Landmark Detection

Exploration & Navigation

Hardware Interface & Control

Testing and Evaluation

Deployment & Documentation


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Material for the course

Computer running Windows XP / 7 Microsoft Visual Studio 2008/2010Express

Microsoft Robotics Developer Studio R3

Surveyor SRV-1 Robot (or similar)

Slides for all lectures available at CodePlex site

Example C# code available at CodePlex site


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Summary

Introduction to the course A need to actively design a system

Exploration of software engineering for robotics

Requirements to Implementation and Evaluation

Coverage of most aspects

Discussion of methods

Objective to provide a sound basis for design

A basis for efficient use design of systems Exploration of use of RDS for robot systems


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Acknowledgement

This series of lectures has been developed with thegenerous support from the Microsoft Corporation

under the project Software Engineering in Robotics

Contract # 113873. The support is gratefully

acknowledged.

Documents

Software Engineering in Robotics - Lecture 1