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Architecture-Driven Self-Adaptation and Self-Management in Robotics Systems

Architecture-Driven Self-Adaptation and Self-Management in Robotics Systems. By George Edwards, Joshua Garcia, Farshad Tajalli, Daniel Popescu, Nenad Medvidovic, Gaurav Sukhatme, Brad Petrus. Presentation by Joshua Garcia and Farshad Tajalli. Today’s Software Systems. 24/7 systems

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Architecture-Driven Self-Adaptation and Self-Management in Robotics Systems

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  1. Architecture-Driven Self-Adaptation and Self-Management in Robotics Systems By George Edwards, Joshua Garcia, Farshad Tajalli, Daniel Popescu, Nenad Medvidovic, Gaurav Sukhatme, Brad Petrus Presentation by Joshua Garcia and Farshad Tajalli

  2. Today’s Software Systems • 24/7 systems • Long-lived, decentralized, heterogeneous, mobile, ubiquitous Self-awareness and Self-adaptation

  3. Software Architecture for Robotics Self-awareness and Self-adaptation J. Georgas and R. Taylor. Policy-based self-adaptive architectures: a feasibility study in the robotics domain. In Proceedings of SEAMS 2008, pages 105–112. ACM New York, NY, USA, 2008. D. Sykes et al. From goals to components: a combined approach to self-management. In Proceedings of SEAMS 2008, pages 1–8. ACM New York, NY, USA, 2008. D. Kim et al. SHAGE: a framework for self-managed robot software. In Proceedings of SEAMS 2006, pages 79–85. ACM New York, NY, USA, 2006.

  4. Layered Architecture

  5. Approach • Layered Architecture • Component-based Approach • Meta-level Components vs. Application Components • Meta-level Component Types • Collector, Analyzer, Admin • Meta-level Component Layering • Meta-level components form a control loop on the lower level architecture • Implementation Support for Meta-level component types and layers

  6. Approach Advantages • Architectural Awareness • Architectural awareness of components in the layer below • Self-adaptation support for meta-level component types • Self-adaptation support for qualities of service • Support for Adaptive Reference Architectures

  7. Meta-Level Components • Meta-Level Components Types • Collector • Analyzer • Admin

  8. Collector • Read access to lower architecture • A collection of Monitors • added to the Components and Connectors in the lower layer • exceptions, variables and events • Collector aggregates the monitored data • Flexibility of monitor installation

  9. Analyzer • Read access to lower architecture • A collection of Policies • Policies are evaluated against monitored data received from Collectors • Triggers adaptations and reconfigurations • Directs Admins to modify the lower architecture

  10. Admin • Read\Write access to lower architecture • Adapts the lower architecture • Add, delete, connect, disconnect • Reconfigures the lower architecture components, connectors and etc.

  11. Layered Architecture

  12. Fault Tolerance Example

  13. Implementation Support – Prism-MW • Meta-level component type adaptation • Robotics-specific meta-level component types Meta-level Component

  14. Three Layer Reference Model

  15. Application to Three Layer Reference Model

  16. Application Scenario

  17. Conclusion • Meta-level component types and layering • Support for qualities of service • Ensures correct functionality and system stability • Implementation support for meta-level component types and layers • Support for adaptive reference architectures

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