This page serves as an entry point for technical material for the RobMoSys Second Open Call which is open from February 2019 till end of April 2019. For information about the open call, refer to https://robmosys.eu/open-call-2/.

This page is structured according to specific keywords and topics that are used in the official call documents.

• Technical User Stories and Non-Technical User Stories
• Architectural Patterns
• RobMoSys Model Directory
• RobMoSys Composition Structures

Find a list of Tools and Software Baseline. They include links to relevant tutorials.

• Browse the Model Directory to see building blocks available for immediate composition with RobMoSys tooling.

• Pilot Skeletons
• Browse the Model Directory to see building blocks available for immediate composition with RobMoSys tooling.
• Domain Models to kickstart and base your own development on

• Navigation is a focus of the RobMoSys Pilot “Intralogistics Industry 4.0 Robot Fleet Pilot”
• Domain Models, for example the Flexible Navigation Stack
• A use-case in
  • Managing Cause-Effect Chains in Component Composition
  • Skills for Robotic Behavior and Support of Skills for Robotic Behavior
• The Flexible Navigation Stack is supported by the SmartMDSD Toolchain:
  • Support for the Flexible Navigation Stack
  • A lot of SmartMDSD Toolchain Tutorials focus on examples in navigation
  • Scenario Gazebo/TIAGo/SmartSoft Scenario
  • A full stack of software components supporting the Flexible Navigation Stack is available for immediate composition

• Manipulation is a focus in several Pilots:
  • Intralogistics Industry 4.0 Robot Fleet Pilot
  • Flexible Assembly Cell Pilot
  • Human Robot Collaboration for Assembly Pilot
  • Assistive Mobile Manipulation Pilot
• Domain Models: Mobile Manipulation Stack
• Software component models ready for implementation (“empty component hulls”) with the SmartMDSD Toolchain can be found in the RobMoSys Model Directory

• General statements on the purpose and high-level concept of a digital data sheet: MODELS 2018 RobMoSys Workshop Talk “Modeling Principles and Modeling Foundations in RobMoSys”
• Digital Data Sheet and Modeling Twins are synonyms.
• Digital Data Sheets explained using the PC Domain Analogy

• RobMoSys Tooling Support of the Digital Data Sheet via the SmartMDSD Toolchain:
  • A digital data sheet contains different sections; at least a technical section and annotations section for humans.
  • The SmartMDSD Toolchain supports the technical digital data sheet via its models. It support via annotations is currently distributed over several places as this technology is currently in migration.
    • The concept of annotations via a component documentation model to enrich a software component with descriptions for humans is described in: Stampfer2016 and Stampfer2018.
    • It currently supports generation of README.md files and RDF/TTL file for import in semantic triple-stores.
    • Find a HowTo at https://wiki.servicerobotik-ulm.de/how-tos:documentation-datasheet:start
  • Use-Case Example: The SmartMDSD Toolchain supports the digital data sheet to interact with Groot, a behavior tree editor

• ROS-1 Mixed-Port Components in the SmartMDSD Toolchain
• Mixed-Port Components explained using the example of YARP
• Support of OPC UA Mixed-Port Components in the SmartMDSD Toolchain
• RobMoSys Talk at ROS-Industrial Conference: Slide 10
• Possible application in the RobMoSys Pilot “Intralogistics Industry 4.0 Robot Fleet Pilot”

• General Concept: Managing Cause-Effect Chains in Component Composition
• Tooling support via the SmartMDSD Toolchain: Example Use-Case for Managing Cause-Effect Chains in Component Composition using the SmartMDSD Toolchain
• Possible application in the RobMoSys Pilot “Intralogistics Industry 4.0 Robot Fleet Pilot”

• RobMoSys in context of OPC UA: OPC Unified Architecture (OPC UA)
• Mixed-Port Components in the SmartMDSD Toolchain allow to bridge between OPC UA and RobMoSys software components:
  • Accessing an OPC UA Device
  • Composing a System with OPC UA Mixed-Port Components
  • Developing an OPC UA Server
• The German National BMWi/PAiCE SeRoNet Project is specifically addressing OPC UA using RobMoSys structures:
  • RobMoSys Talk at ROS-Industrial Conference: Slide 11
  • SeRoNet: http://seronet-projekt.de and Introduction to SeRoNet
• Possible application in the RobMoSys Pilot “Intralogistics Industry 4.0 Robot Fleet Pilot”
• A repository of OPC UA Devices can be found at https://github.com/Servicerobotics-Ulm/OpcUaDeviceRepository

• http://www.servicerobotik-ulm.de/models2018/assets/slides/RobMoSys_MODELS_Papyrus4Robotics.pdf
• Tooling support via Papyrus4Robotics
• Possible application in the context of the RobMoSys Pilot Human Robot Collaboration for Assembly Pilot

• Skills for Robotic Behavior
• Task-Level Composition for Robotic Behavior
• Robotic Behavior in RobMoSys using Behavior Trees and the SmartMDSD Toolchain (MOOD2be ITP)
• Architectural Patterns
  • Architectural Pattern for Task-Plot Coordination (Robotic Behaviors)
  • Architectural Pattern for Component Coordination
• Metamodels:
  • Robotic Behavior Metamodel
  • Skill Definition Metamodel
  • Skill Realization Metamodel
• Tool support:
  • Support of Skills for Robotic Behavior in the SmartMDSD Toolchain
  • Groot and BehaviorTree.CPP: IDE and Engine to develop and execute behavior trees
• Robotic Behavior can be demonstrated using the Intralogistics Industry 4.0 Robot Fleet Pilot. For example, see Robotic Behavior in RobMoSys using Behavior Trees and the SmartMDSD Toolchain (MOOD2be ITP)

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