ESROCOS FINAL REPORT · The Final Report summarizes the activities performed throughout the...

© ESROCOS Consortium 2019, all rights reserved

ESROCOS

FINAL REPORT ESROCOS_D7.2

Due date of deliverable: 31-01-2018

Start date of project: 01-11-2016

Duration: 27 months

Topic: COMPET-4-2016 Building Block a) Space Robot Control Operating System

Work package: 7100

Lead partner for this deliverable: GMV

This project has received funding from the European Union’s Horizon 2020 Research and Innovation programme under Grant Agreement No 730080.

Dissemination Level

PU Public X

CO-1 Confidential, restricted under conditions set out in Model Grant Agreement. Version providing the PSA will all the information required to perform its assessment.

CO-2 Confidential, restricted under conditions set out in Model Grant Agreement. Version providing the PSA and the other operational grant the information required for the integration of all the building blocks and the continuity of the Strategic Research Cluster

Prepared by: ESROCOS team

Approved by: Miguel Muñoz Arancón

Authorized by: Miguel Muñoz Arancón

Code: ESROCOS_D7.2

Version: 1.3

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Internal code: GMV 20082/19 V4/19

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ESROCOS © ESROCOS Consortium 2019, all rights reserved Final Report

DOCUMENT STATUS SHEET

Version Date Pages Changes

1.0 18/01/2019 56 First version of the document.

1.1 05/03/2019 60 Sections 5.1 updated per review comments from REA. Updated deliverables

information in section 5.4.1. Section 7.3 added according to action FRM_A02 of the Final Review Meeting.

1.2 26/06/2019 64 Section 7.1.1 added following the request for a revised periodic report from REA of 27/05/2019.

1.3 04/09/2019 66 Section 7.1.1 updated to answer further clarifications requested by REA.

NOTICE

The contents of this document are the copyright of the ESROCOS Consortium and shall

not be copied in whole, in part or otherwise reproduced (whether by photographic,

reprographic or any other method) and the contents thereof shall not be divulged to any

other person or organisation without the prior written consent of the ESROCOS

Consortium. Such consent is hereby automatically given to the European Commission

and PERASPERA PSA to use and disseminate.

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TABLE OF CONTENTS

1. INTRODUCTION ............................................................................................. 6

1.1. PURPOSE ................................................................................................ 6

1.2. SCOPE .................................................................................................... 6

1.3. CONTENTS .............................................................................................. 7

2. REFERENCE AND APPLICABLE DOCUMENTS ....................................................... 8

2.1. APPLICABLE DOCUMENTS ......................................................................... 8

2.2. REFERENCE DOCUMENTS.......................................................................... 8

3. DEFINITIONS AND ABBREVIATED TERMS .......................................................... 9

4. PROJECT OVERVIEW ...................................................................................... 11

5. WORK CARRIED OUT BY THE BENEFICIARIES ................................................... 12

5.1. WORK ACCORDING TO THE PROJECT OBJECTIVES ...................................... 12

5.2. WORK PER WORK PACKAGE ..................................................................... 16

5.2.1. Work Breakdown Structure ........................................................... 16

5.2.2. WP 1 – Technology review and System requirements ....................... 17

5.2.2.1. WP 1100 Technology Review ................................................. 17

5.2.2.2. WP 1200 System Requirements ............................................. 18

5.2.3. WP 2 – Preliminary Design and Modelling ........................................ 18

5.2.3.1. WP 2100 RCOS Product definition ........................................... 19

5.2.3.2. WP 2200 Architecture Modelling ............................................. 19

5.2.3.3. WP 2300 Reuse and adaptations of existing RCOS frameworks .. 20

5.2.3.4. WP 2400 Identification of new components .............................. 20

5.2.3.5. WP 2500 Unitary testing plan ................................................. 20

5.2.4. WP 3 – Reference implementation Detailed Design and Test Set-Up ... 20

5.2.4.1. WP 3100 RCOS Prototyping ................................................... 21

5.2.4.2. WP 3200 Definition and design of Reference Implementations ... 21

5.2.4.3. WP 3300 Test Set-Up, Testing and integration ......................... 21

5.2.5. WP 4 – Manufacturing Assembly and Integration ............................. 22

5.2.5.1. WP 4100 Robot modelling DEvelopment .................................. 22

5.2.5.2. WP 4200 Mixed-Criticality Development .................................. 22

5.2.5.3. WP 4300 APIs and Tooling Development ................................. 23

5.2.5.4. WP 4400 Components Integration .......................................... 23

5.2.5.5. WP 4500 Planetary Exploration Demonstrator Implementation ... 23

5.2.5.6. WP 4600 Orbital Demonstrator Implementation ....................... 24

5.2.5.7. WP 4700 Nuclear Demonstrator Implementation ...................... 24

5.2.6. WP 5 – Execution of tests and Correlation of test results ................... 25

5.2.6.1. WP 5100 Tests Execution – Planetary Exploration Demonstrator 25

5.2.6.2. WP 5200 Tests Execution – Orbital Exploration Demonstrator .... 26

5.2.6.3. WP 5300 Tests Execution – Nuclear Exploration Demonstrator ... 26

5.2.6.4. WP 5400 Correlation of test results ........................................ 27

5.2.7. WP 6 – Dissemination and Exploitation ........................................... 27

5.2.7.1. WP 6100 Website and Source Repositories .............................. 28

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5.2.7.2. WP 6200 Reference Documentation ........................................ 28

5.2.7.3. WP 6300 RCOS Product Workshops ........................................ 29

5.2.7.4. WP 6400 Self-sustained Foundation ........................................ 29

5.2.8. WP 7 – Management .................................................................... 30

5.2.8.1. WP 7100 Consortium coordination .......................................... 30

5.2.8.2. WP 7200 OG’s Interfacing ..................................................... 30

5.3. PROJECT MILESTONES ............................................................................ 30

5.4. PROJECT OUTPUTS ................................................................................. 31

5.4.1. Deliverables ................................................................................ 31

5.4.2. Software Products ........................................................................ 39

6. IMPACT ........................................................................................................ 44

6.1. TECHNICAL IMPACT ................................................................................ 44

6.2. PROGRESS BEYOND THE STATE OF THE ART .............................................. 46

6.3. SOCIOECONOMIC IMPACT ....................................................................... 47

7. DEVIATIONS FROM ANNEX 1 AND ANNEX 2...................................................... 49

7.1. TASKS ................................................................................................... 49

7.1.1. Deviations with Respect to Resource Planning ................................. 49

7.1.2. Discrepancies with the Technical Activities Planned .......................... 55

7.2. USE OF RESOURCES ............................................................................... 56

7.2.1. Unforeseen Subcontracting ........................................................... 56

7.2.2. Unforeseen Use of In Kind Contribution from Third Party Against Payment

or Free of Charges ............................................................................. 56

7.3. OPEN TECHNICAL ISSUES ........................................................................ 57

8. SUMMARY FOR PUBLICATION ......................................................................... 61

8.1. CONTEXT AND OVERALL OBJECTIVES OF THE PROJECT ............................... 61

8.2. WORK PERFORMED ................................................................................. 62

8.3. PROGRESS BEYOND THE STATE OF THE ART AND POTENTIAL IMPACTS ........ 64

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LIST OF TABLES AND FIGURES

Table 2-1. Applicable documents ........................................................................... 8

Table 2-2. Reference documents ........................................................................... 8

Table 3-1. Acronyms ............................................................................................ 9

Table 5-1. Project milestones ............................................................................... 30

Table 5-2. Deliverables ........................................................................................ 31

Table 5-3. Publications ........................................................................................ 34

Table 5-4. Software assets from the ESROCOS project ............................................ 39

Table 7-1. Open technical issues (FRM_A02) .......................................................... 57

Figure 4-1. Overview of the components of ESROCOS ............................................. 11

Figure 5-1. ESROCOS Work Breakdown Structure ................................................... 17

Figure 8-1. Components and architecture of the ESROCOS framework ...................... 63

Figure 8-2. ESROCOS testing in planetary (top), in-orbit servicing (bottom-left) and

nuclear (bottom-right) reference scenarios ............................................................ 64

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1. INTRODUCTION

1.1. PURPOSE

The PERASPERA OG1 activity is devoted to the design of a Robot Control Operating

Software (RCOS) that can provide adequate features and performance with space-grade

Reliability, Availability, Maintainability and Safety (RAMS) properties. The goal of the

ESROCOS project is to provide an open source framework which can assist in the

development of flight software for space robots. By providing an open standard which can

be used by research labs and industry, it is expected that the Technology Readiness Level

(TRL) can be raised more efficiently, and vendor lock-in through proprietary environments

can be reduced. Current state-of-the-art robotic frameworks are already addressing

some of these key aspects, but mostly fail to deliver the degree of quality expected in the

space environment. In the industrial robotics world, manufacturers of robots realise their

RCOS by complementing commercial real-time operating systems, with proprietary

libraries implementing the extra functions.

The Final Report summarizes the activities performed throughout the project, the results

and impacts achieved with respect to the initial objectives, and any deviations from the

project plan that took place.

1.2. SCOPE

This document is an outcome of the WP 7 “Management” activities, in particular of WP

7100 “Consortium Coordination”. This task manages the internal organization of the

consortium as well as the reporting to the REA.

This document corresponds to Part B of the technical report for the project (the ESROCOS

project has a single reporting period covering the entire activity). This Part B is the

narrative part that describes the work carried out by the beneficiaries. It complements

the Part A of the technical report, which contains the project summary and the information

about the implementation and impact, and which is generated by the IT system from the

information uploaded to the Participant Portal.

For convenience, some information of Part A of the technical report is also added in this

document in addition to the portal.

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1.3. CONTENTS

This document contains the following sections:

Section 1: Introduction.

Section 2: Reference and Applicable Documents. Lists of documents that are relevant

to the structure and contents of this document.

Section 3: Definitions and abbreviated terms. List of terms and definitions that

harmonize the nomenclature used providing the clarifications for the understanding of

the terms.

Section 4: Project Overview. Presents a brief summary of the project and its outputs.

Section 5: Work Carried Out by the Beneficiaries. Details the activities performed by

the project consortium and the project outputs.

Section 6: Impact. Summarizes the results of the project in terms of impact and

progress beyond the state of the art.

Section 7: Deviations from Annex 1 and Annex 2. Explains any deviations from the

project plans or the assignation of resources.

Section 8: Summary for Publication. Contains a summary text that will be included in

the Part A of the Final Report, to be generated from the information reported in

SyGMa.

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2. REFERENCE AND APPLICABLE DOCUMENTS

2.1. APPLICABLE DOCUMENTS

The following is the set of documents that are applicable:

Ref. Title Date

[AD.1] PERASPERA: D3.1 Compendium of SRC

Activities (for call 1)

[AD.2] Guidelines for strategic research cluster on space robotics technologies horizon 2020 space call

2016

[AD.3] Call: H2020-COMPET-2016 ESROCOS Proposal. Proposal no. 730080 03/03/2016

Table 2-1. Applicable documents

2.2. REFERENCE DOCUMENTS

The following is the set of documents referenced or useful for understanding the contents

of this report:

Ref. Title Date

- - -

Table 2-2. Reference documents

See also Table 5-2. Deliverables and Table 5-3. Publications, which list the documentation

produced in the activities.

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3. DEFINITIONS AND ABBREVIATED TERMS

Acronyms used in this document and needing a definition are included in the following

table:

Table 3-1. Acronyms

Acronym Definition

AADL Architecture Analysis and Design Language

ADS Airbus Defence and Space

AIR ARINC 653 Interface in RTEMS

AMP Asymmetrical Multi-Processing

API Application Programming Interface

ARINC Aeronautical Radio, Incorporated

ASN.1 Abstract Syntax Notation One

ASTRA Advanced Space Technologies in Robotics and Automation

BIP Behaviour, Interaction, Priority

BSD Berkeley Software Distribution

CAN Controller Area Network

CDR Critical Design Review

CMM Cassette Multifunctional Mover

CMU/SEI Carnegie Mellon University/Software Engineering Institute

DFKI Deutsches Forschungszentrum für Künstliche Intelligenz

DLR Deutsches Zentrum für Luft und Raumfahrt (German Aerospace Center)

DOI Digital Object Identifier

ECSS European Cooperation for Space Standardization

ERA European Robotic Arm

ERGO European Robotic Goal-Oriented Autonomous Controller

ESA European Space Agency

ESROCOS European Space Robotics Control and Operating System

FA Final Acceptance

FDIR Failure Detection, Isolation and Recovery

FP Final Presentation

FRM Final Review Meeting

GPL General Public License

H2020 Horizon 2020

IAC International Astronautic Conference

ICD Interface Control Document

IDL Interface Description Language

ILK Intermediate Language for Kinematics

IMA Integrated Modular Avionics

INT Intermodalics

ISAE Institut Supérieur de l'Aéronautique et de l'Espace

ISS International Space Station

ITER International Thermonuclear Experimental Reactor

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Acronym Definition

KOM Kick-Off Meeting

KUL Katholieke Universiteit Leuven

LGPL Lesser General Public License

MISRA Motor Industry Software Reliability Association

MIT Massachusetts Institute of Technology

MOSAR Modular Spacecraft Assembly and Reconfiguration

OBCP On-Board Control Procedure

OG Operational Grant

OS Operating System

PC Personal Computer

PDR Preliminary Design Review

PERASPERA Plan European Roadmap and Activities for Space Exploitation of Robotics and Autonomy

PSA Programme Support Activity

PUS Packet Utilization Standard

RAMS Reliability, Availability, Maintainability and Safety

RCOS Robot Control Operating System

RDEV RCOS Development Environment

REA Research Executive Agency

ROCK Robot Construction Kit

ROS Robot Operating System

RTEMS Real-Time Executive for Multiprocessor Systems

SDL Specification and Description Language

SKY GMVIS Skysoft SA

SMC Statistical Model Checking

SMP Symmetric Multiprocessing

SOEM Simple Open EtherCAT Master

SRC Strategic Research Cluster

SRR System Requirements Review

SW Software

SyGMa System for Grant Management

TASTE The ASSERT Set of Tools for Engineering

TM/TC Telemetry/Telecommand

TRL Technology Readiness Level

TRR Test Readiness Review

TSP Time and Space Partitioning

UDP User Datagram Protocol

UGA Université Grenoble Alpes

URDF Unified Robot Description Format

VTT Technical Research Centre of Finland

WG Working Group

WP Work Package

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4. PROJECT OVERVIEW

ESROCOS is a framework for developing robot control software applications. It includes

a set of tools that support different aspects of the development process, from

architectural design to deployment and validation. In addition, it provides a set of core

functions that are often used in robotics or space applications.

The ESROCOS framework is intended to support the development of software following

the ECSS standards. It does not by itself cover all the development phases and verification

steps, but it facilitates certain activities and ensures that the software built can be made

compatible with the RAMS requirements of critical systems.

Figure 4-1. Overview of the components of ESROCOS

Figure 4-1 summarizes the main elements of the ESROCOS framework. At the top of the

figure there are tools for robots, software and failure modelling. These are supported by

the common data types for component interfacing, and basic libraries for robotics

functions, logging and TM/TC. The middleware layer allows for the management and

communication of software components at runtime. A mixed criticality layer is added to

isolate application components at runtime. Finally, the applications may run on three

environments according to the desired software quality level: laboratory, high reliability

and space quality.

The boxes on the sides of the figure represent orthogonal concerns. Firstly, ESROCOS

integrates with third-party tools and frameworks to support different activities and

facilitate the reuse of existing code. Secondly, ESROCOS supports the configuration and

deployment of complex applications via continuous integration. Finally, the figure

highlights that ESROCOS is open-source and relies on non-proprietary technologies in

order to encourage usage and contributions from the community.

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5. WORK CARRIED OUT BY THE BENEFICIARIES

5.1. WORK ACCORDING TO THE PROJECT OBJECTIVES

The work plan of the project is structured around eight main objectives. This section

summarizes the activities carried out in relation with each of these objectives, and the

results obtained.

[Objective 1] Develop a space-oriented RCOS. The target space should include

space-grade RAMS attributes (ECSS standards) and off-line/on-line formal

verification, Telemetry and Telecommand (TM/TC) messages and qualification of

industrial drivers such as the Controller Area Network (CAN) bus or EtherCAT

protocols.

This objective refers to the capabilities and attributes of the ESROCOS technical

products related to robotics and space software engineering.

The ESROCOS framework globally addresses the RCOS objective. It provides a

runtime and execution environment of robotics applications in the target domain.

Although each component and tool is relevant to the purpose of the framework, some

can be highlighted here:

- The development workflow is supported by the continuous integration functionality

of ESROCOS, as well as the modelling workflow defined by TASTE and the

kinematics modelling tools.

- The component model is defined by TASTE, and the interfaces use the common

robotics data types defined in ASN.1.

- The runtime environment of the application is PolyORB-HI, provided by TASTE,

and middleware bridges can be used to communicate with ROS and ROCK

environments.

- Some of the common robotics functions provided by the framework are support

for geometric transformations, data streams and logging. In addition, the

framework integrates third-party libraries often used in robotics systems, such as

Eigen and OpenCV.

- The framework integrates tools needed for robotics application development and

testing, such as the Gazebo simulator or de RVIZ and vizkit3d visualizers.

The RAMS attributes are relevant for those components of the framework that are

used at runtime and on space-representative hardware, which in the case of ESROCOS

is the GR740 board with a LEON4 processor. The development workflow in ESROCOS

is model-driven and relies on code generation, so the tools used to generate the

runtime code have also RAMS considerations.

- The TASTE framework, which is the core of ESROCOS, has been improved in terms

of code quality to prepare for future qualification.

- The documentation and traceability of the AIR hypervisor has also been improved

according to the ECSS standards.

- Newly developed components, such as PolyORB-HI drivers or the PUS library, have

been implemented taking into account the constraints for critical software,

although they are not ready to be qualified.

The validation activities that have been performed did not measure RAMS properties

due to the limitations of the validation approach. It is not straightforward to measure

these properties on demonstrator applications. Instead, the approach was to test with

the demonstrators the capability to build robotics applications using the ESROCOS

framework, and then to analyse how each component of the framework can contribute

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to improve the RAMS properties of the built software. The objective of measuring the

improvement of RAMS properties was not attained, but the selected approach

addressed this aspect via analysis within the constraints of the demonstrators’ scope.

The TASTE framework performs formal verification at model level. ESROCOS

augments these capabilities by integrating BIP tools:

- TASTE2BIP: generation of BIP models from TASTE (SDL functions)

- BIP compiler: generation of C++ code from BIP models.

- BIP engine: runtime for executing BIP models.

- SMC-BIP: statistical model-checker for BIP models.

Regarding on-line verification, ESROCOS integrates the BIP-based FDIR modelling and

generation capabilities developed in ERGO.

TM/TC services have been addressed by implementing a PUS services component that

can be integrated as a standalone library or as reusable TASTE functions. The

component includes an OBCP engine built on Micropython.

Finally, regarding hardware support, the following developments have been done:

- Development of drivers for CAN bus (GRCAN), Ethernet (GRETH) and SpaceWire

(GRSPW2) for the latest version of RTEMS, targeting the GR740 system.

- These drivers have also been made available in the AIR hypervisor, which is based

on RTEMS and has been updated to support the latest versions.

- Implementation of a PolyORB-HI driver for SpaceWire on Linux using a USB-

SpaceWire adaptor.

- Migration of the SOEM EtherCAT master library to RTEMS; however, due to

hardware availability this development has only been tested on ARM, instead of

the GR740 platform.

[Objective 2] Integrate advanced modelling technologies. ESROCOS should

include complete model based methodology supporting the design of the individual

components as well as the interfaces for their interaction and integration, the

verification of the structural and behavioural properties at the system level, and a

framework that also provides glue code generation. This approach allows the

separation of the model from the target platform, which is a requirement for the reuse

of the software in future developments.

The ESROCOS framework supports model-based development of applications in two

main dimensions:

- The software architecture is modelled using TASTE, which describes the system

using four views: data, interface, deployment and concurrency. Software

behaviour in TASTE can be modelled using SDL. As mentioned above, ESROCOS

augments these modelling capabilities with BIP.

- The robot architecture is modelled using the kin-gen tools, which model robot

kinematics, define queries and generate kinematics solvers. The robot modelling

paradigm is based on model composability, so that in the future it can be extended

to cover other aspects of the robot, such as dynamics and interaction with the

environment.

[Objective 3] Focus on the space robotics community. ESROCOS requirements

should be consolidated by actors leading state-of-the art robotics space missions.

To stay aligned with the priorities of the space robotics community, the ESROCOS

consortium have counted with two key European players in this domain: Airbus DS,

the prime contractor for the ExoMars rover, and DLR, the lead institute in Europe for

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advanced space robotics. These partners did not participate in the development of the

software solution; instead, their role was:

- To guide the definition of the ESROCOS requirements (in WP1) and ensure that

they respond to the needs of current and future projects.

- To support the definition of the validation activities at the end of the project, to

evaluate the results of the validation (in WP5).

In addition to the direction given by these partners from inside the project but outside

the software development, ESROCOS has incorporated the feedback from the

community through the PERASPERA coordination and the dissemination activities:

- The coordination within the Space Robotics SRC was maintained through common

meetings and through the interaction of the Interface Engineers appointed by each

of the OGs. This interaction was more intense in the initial phases of the project

during requirements definition, but it has continued throughout the duration of the

activities.

- A Common Interface Control Document was produced to define the interfaces

between all the OGs and ensure that ESROCOS and the other OG products are

prepared for integration in future projects.

- In the ASTRA 2017 conference, a ESROCOS Workshop session was organized. The

workshop was quite successful in terms of participation, communication of the

project and received feedback.

A second ESROCOS Workshop was initially planned but finally not held. Ideally,

this workshop should have presented the results of the validation in the reference

scenarios in a meeting that congregates the space robotics community. Following

discussions with the PSA, the workshop may be organized during the SRC second

call, for instance in the next edition of ASTRA, which may serve well the interest

of the second call OGs.

- The ESROCOS software is mainly hosted at GitHub, which is the most popular

software repository and includes many features for interaction between developers

and users, such as Wikis, a ticket reporting system and pull requests. ESROCOS

has already received some issue reports from outside the project, in particular

from participants in other OGs.

[Objective 4] Allow integration of complex robotics applications. ESROCOS

should provide a flexible architecture, following the Time and Space Partitioning and

mixed-criticality approach, which also allows hosting different level of space quality

applications over the same on-board computer.

The use of mixed criticality or Time and Space Partitioning (TSP) in robotics is one

innovative aspect of ESROCOS. Space robotics combines real-time requirements with

the need to integrate non-deterministic algorithms.

ESROCOS provides the AIR hypervisor, which allows that components with different

criticality or real-time properties are deployed in separate partitions that share the

computer resources in a deterministic way, hence allowing for the safe coexistence of

the different parts of the system.

The main activities related to mixed criticality in the project have been:

- Adaptation of the AIR hypervisor to the selected hardware platform (GR740) and

the latest version of RTEMS which is selected by ESA for qualification and use in

future projects.

- Development of device drivers for Ethernet, CAN and SpaceWire on the GR740

board for RTEMS and AIR.

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- Integration of the AIR hypervisor in the TASTE framework. This task has been

performed in collaboration with Ellidiss, which participates in OG2-ERGO.

Currently, the integration of the hypervisor has used a dedicated branch of the

TASTE framework, and is not yet available for general usage.

Another aspect of the ESROCOS framework in the support of complex applications is

the development workflow and tools based on Autoproj, a build system coming from

the ROCK ecosystem which is the core of the ESROCOS development environment.

Autoproj creates a workspace that may combine software from different sources, and

it manages the build and software dependencies, facilitating the development of

complex applications combining new, existing and 3rd-party components.

- An Autoproj configuration has been created for the ESROCOS project.

- The TASTE framework has been integrated in Autoproj, and a set of scripts have

been implemented to support the development workflow defined by ESROCOS.

- Build features have been added in order to build applications for the GR740

avionics board with Autoproj.

[Objective 5] Avoid vendor-lock in situations. The outcome should be delivered

as open source code (Mozilla Public License, Apache, MIT, BSD and GPL/LGPL),

avoiding proprietary solutions (VxWorks, PykeOS) that can have difficulties in being

adopted.

All the components of the ESROCOS framework are released under open-source

licenses. The list of tools and licenses is detailed in the document D4.1 Software

Configuration File V2.0.

ESROCOS also relies on several external tools, libraries and frameworks. Care has

been taken to ensure that these dependencies are also open-source. The main

dependencies and licenses are also listed in D4.1.

The ESROCOS framework is also available under the conditions established by the

Collaboration Agreement. This ensures that ESROCOS can be used in the context of

the future SRC activities.

[Objective 6] Leverage on existing assets. ESROCOS should enhance already

existing frameworks (TASTE extended with a robotics components approach inspired

by the Rock middleware), mature toolsets (source-code versioning, scripting/testing,

visualizers/simulators) and libraries (advanced data types, robotics transformations

of reference systems, robotic arm kinematics and dynamics, rover locomotion

control).

The ESROCOS framework is largely based in existing tools and framework that have

been updated, if necessary, and integrated in a consistent framework. This not only

contributes to the maturity of the system and the familiarity of the users, but is also

important for the future evolution of the framework, as it is ensured that many

framework components will continue to be used and improved beyond the end of the

project, and that bug fixes and new features can be fed back into ESROCOS.

Existing assets that have been improved or evolved and integrated in ESROCOS are:

the TASTE framework, the BIP tools, the AIR hypervisor, the RTEMS operating system

and the SOEM EtherCAT library.

Other existing components have been integrated in ESROCOS without modification.

In some cases, the software is used as is, and in others it has required a specific

configuration or a software interface layer. The most important of these assets are:

the ROCK framework (specifically, the Autoproj build system, the basic data types,

and certain components like the transformer and stream aligner), the ROS framework,

the Gazebo simulator, the RVIZ and vizkit3d visualizers, the Eigen linear algebra

library, and the OpenCV image processing library.

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These lists enumerate only those components that provide features directly visible to

the user. Additional dependencies and underlying libraries are not listed here.

[Objective 7] Ease the development of robotics systems. ESROCOS should be

interoperable with other robotics frameworks (e.g. ROCK/ROS 3rd party libraries and

visualizers/simulators) allowing testing their algorithms together with space critical

components.

A number of existing assets from the ROCK and ROS ecosystems, including simulation

and visualization tools, have been integrated in ESROCOS as described above.

In addition, the ESROCOS framework includes specific tools that have been developed

to allow interoperation with these frameworks:

- A set of tools that can translate the robotics data types defined in ROCK (C++)

and ROS (IDL) to ASN.1, which is the data modelling language of the TASTE

framework. In the case of the ROCK types, the tool also generates type conversion

functions (ROS type conversions are handled at runtime).

- A set of tools to create bridge components that can communicate at runtime the

TASTE PolyORB-HI middleware with the ROCK and ROS middleware, allowing that

ESROCOS (TASTE), ROCK and ROS components run together and exchange

messages to fulfil the purpose of the application.

- A tool that can export a TASTE model to ROCK, intended for ROCK users to become

familiarized with the ESROCOS modelling approach.

[Objective 8] Cross-pollinate with non-space solutions and applications.

ESROCOS should benefit from the experience gathered in developing RCOS for robots

in nuclear environment, with very stringent RAMS requirements.

The ESROCOS consortium has counted with the participation of VTT, which are experts

in robotics for nuclear applications and host an important robotics test bench facility

for the ITER experimental fusion reactor. This has allowed the consortium to:

Incorporate inputs from the nuclear robotics community into the ESROCOS

requirements and design.

Define a reference application targeting a nuclear robotics scenario.

Deploy the reference application on the Cassette Multifunctional Mover (CMM) test

bench at VTT, as part of the validation activities of ESROCOS.

The validation of the framework in the nuclear scenario with a proof-of-concept

application controlling the CMM robot was successful, although the configuration

chosen used a Linux host computer that did not guarantee real-time behaviour. The

DTP2 facility is a mature system and it is not envisaged to use ESROCOS. The

exploitation of the results in this domain is instead through the exchange of knowledge

(e.g., applicable standards) and the learning of useful technologies (e.g., TASTE,

URDF).

5.2. WORK PER WORK PACKAGE

5.2.1. WORK BREAKDOWN STRUCTURE

The activities of the ESROCOS project have been structure in seven major Work Packages,

each divided in several sub-WPs or tasks. This structure is recalled in Figure 5-1 below.

This section of the document describes the work performed by the consortium in each of

the Work Packages and summarizes the outputs produced.

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Figure 5-1. ESROCOS Work Breakdown Structure

5.2.2. WP 1 – TECHNOLOGY REVIEW AND SYSTEM REQUIREMENTS

This major WP was led by DFKI and extended from the Kick-Off Meeting (KOM) at T0 to

the System Requirements Review (SRR) at T0+3 months.

5.2.2.1. WP 1100 TECHNOLOGY REVIEW

The starting date of this WP was T0 and the end date was T0+1.5 months (before SRR).

This WP reviewed the state of the art of current robotics frameworks and its suitability to

autonomous space robotics systems. It will be also considered the entire closed-loop

control system consisting of the on-board segment and ground segment (ground control

system). Such review included a model to evaluate the features of the individual RCOS

subjects in order to show overlap/complementarity and its main benefits and drawbacks.

The output of this WP was documented in the deliverable D1.1 Technology Review.

The following tasks were performed:

Review timed automata and related techniques for verification of robotics systems

(UGA).

Review robotics frameworks and middleware (GMV).

Review component models and formal verification tools (KUL).

Review Real Time Operating Systems, IMA and avionics platforms relevant to space

robotics (SKY).

Review TM/TC communication protocols and PUS services (GMV).

Integration and review of the D1.1 Technology Review Document deliverable (all

partners).

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5.2.2.2. WP 1200 SYSTEM REQUIREMENTS

The starting date of this WP was T0, and the end date T0+3 months (SRR). GMV led the

task.

The main output of this WP is the first version document D1.2 Systems Requirements.

This document has been updated along the entire project for correctness and consistency.

The last version was issue 1.3, delivered at the TRR.

During this WP the user requirements were defined in order to assess the characteristics

that a robotics framework that provides a robotic operating system must fulfil from the

user point of view, based on the current need for space systems.

The RCOS and RDEV technical requirements were also defined according to the features

and extensions of the software components that should be fulfilled. For each requirement,

a validation method was selected (by review of design, by test or by code review).

The document also established the traceability between the user requirements (defined

in [AD.1]) and the system requirements.

The RCOS system requirements for a planetary track were specifically identified by ADS

and by DLR for an orbital track and by VTT for RAMS against the standards. These

partners conducted this task from the perspective of a potential user.

The contributions from other partners defined the requirements for the main capabilities

of ESROCOS, for instance regarding real time and mixed criticality aspects (SKY/UGA),

robotics components modelling (DFKI/KUL), interoperability with other robotics

frameworks (INT), middleware (ISAE/GMV), PUS services (GMV), and formalized

language needs (ISAE), GMV being responsible for integrating their contribution.

In addition to the deliverable D2.1, two other documents were produced:

First version of D1.3 Software Reuse File, preliminarily identifying the existing

software assets that would be used in ESROCOS.

First version of D2.3 Interface Control Document, with the preliminary definition of

the internal and external interfaces of ESROCOS.

5.2.3. WP 2 – PRELIMINARY DESIGN AND MODELLING

This major WP was led by ISAE and extended from the System Requirements Review

(SRR) at T0+3 months to the Preliminary Design Review (PDR) at T0+9 months.

The work in this WP was organized by forming Working Groups (WG) in charge of the

definition of specific parts of the framework. Each WG was led by one of the partners,

which was in charge of collecting the contributions of the rest. The following WGs were

formed:

WG1 – 3rd-party SW integration (WG leader: GMV)

WG2 – Robotics modelling (WG leader: KUL)

WG3 – TASTE extensions, divided into:

Core extensions (WG leader: ISAE)

Extensions for IMA (WG leader: GMV-SKY)

Extensions for BIP (WG leader: UGA)

Extensions for Robotics Modelling (WG leader: KUL)

WG4 – Data types and common libraries (WG leader: DFKI)

WG5 – PUS services (WG leader: GMV)

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WG6 – Drivers (WG leader: GMV-SKY)

WG7 – Continuous integration (WG leader: DFKI)

WG8 – Web page (WG leader: GMV)

NOTE: There is a mismatch between the numbering of the deliverables produced in this

WP and the numbering that appears in SyGMa. This is because, during the project, the

Software Reuse File V2 was numbered as a new version of D1.3 instead of a new

document D2.1. This means that the numbering of the other D2.X deliverables is shifted.

5.2.3.1. WP 2100 RCOS PRODUCT DEFINITION

The starting date of this WP was T0+3 months (SRR), and the end date was T0+5 months

(before PDR). The task las lead by GMV, and the main contributors were DFKI, KUL, UGA

and SKY.

The results of this task were documented in the deliverable D2.1 Product definition. This

document describes the main characteristics of the ESROCOS framework. Although the

scope of ESROCOS would still evolve until the consolidation of its design, this first

document provided enough information to give an accurate overview of its capabilities

and characteristics in a high level of description.

The deliverable was produced with the inputs from DFKI, KUL, UGA, SKY, INT, ISAE and

GMV, which was also in charge of integrating the contributions and feedback from the

different partners.

5.2.3.2. WP 2200 ARCHITECTURE MODELLING

The starting date of this WP was T0+4 months (after SRR), while the end date was T0+6

months (before PDR). The task was led by ISAE and the main contributors were GMV,

DFKI, UGA, KUL, SKY and INT.

This WP provided architectural patterns and best practices, explaining to great detail why

exactly these patterns are optimal to solve particular aspects of robotics systems.

The following tasks were performed:

Identifying the software components that constitute the framework, both for the RCOS

(Robot Control Operating Software) and the RDEV (RCOS Development Environment),

and outline their design.

Preliminary design of the new components to be developed.

Definition of the integration workflow for these components.

During this WP, the deliverable D2.2 Preliminary Design Document was elaborated. This

document presents a first design of the framework that was completed and detailed

deeply in later WPs.

The second version of the D1.3 Software Reuse File (see note in section 5.2.3 above) was

produced, consolidating the list of existing software to be reused.

Finally, a second version of the D2.3 Interface Control Document was written, with

updated definitions of the software interfaces.

The content of these three deliverables combines the results of the Work Packages 2200,

2300 and 2400. The work in this WP 2200 focused on the architectural design, while WP

2300 was centred in the reuse and integration of existing assets, and WP 2400 addressed

new components to be developed.

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5.2.3.3. WP 2300 REUSE AND ADAPTATIONS OF EXISTING RCOS FRAMEWORKS

The starting date of this WP was T0+5 months (after SRR), and the end date was T0+8

months (before PDR). The task was led by DFKI, and the main contributors were GMV

and INT.

This WP took as input the SW Reuse document from the WP1200, to identify the third-

party robotics software (libraries or tools) which are part of ESROCOS or that ESROCOS

will interact with.

The following tasks were carried out:

Contribution to the deliverable D2.2 Preliminary Design Document.

Contribution to the new version of D1.3 Software Reuse File.

Contribution to D2.3 Interface Control Document based on the contributions from each

partner.

Identification of activities inside a workflow of development using ESROCOS.

Identification of Software artefacts and its relationships.

Identification of Software Products resulted from activities and artefacts.

Description of workflow for the production of robot applications.

5.2.3.4. WP 2400 IDENTIFICATION OF NEW COMPONENTS

The starting date of this task was T0+5 months immediately after task 2100, and the end

date was T0+8 months (before PDR). The task was led by GMV and the main contributors

were KUL, UGA, DFKI, SKY and INT.

The task focused on the identification of new components as well as its interfaces with

the existing ESROCOS components. This new components were added and described in

the document D2.2 Preliminary Design Document, and the corresponding interfaces

documented in D2.3 Interface Control Document.

5.2.3.5. WP 2500 UNITARY TESTING PLAN

The starting date of this task was T0+8 months immediately after WP 2300 and WP 2400,

and the end date was at T0+9 months (PDR). The task was led by UGA, and the main

contributions were from ISAE, KUL, DFKI, SKY, INT and GMV.

This WP consisted in specifying the test approach for each of the components of the

ESROCOS framework as an independent software product. The main activities within this

task were:

Elaboration of D2.4 Unitary Testing Plan.

Explanation of the criteria followed for the unitary testing of ESROCOS software

products.

Description of the common infrastructure that supports the development of the

software products.

Detailed description of unitary test approach for each software product.

Check of traceability with System Requirements.

5.2.4. WP 3 – REFERENCE IMPLEMENTATION DETAILED DESIGN AND TEST SET-UP

This major WP was led by GMV and extended from the Preliminary Design Review (PDR)

at T0+9 months to the Critical Design Review (CDR) at T0+15 months.

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During this phase of the project, the prototyping activities were started in parallel with

the consolidation of the design. The development and integration of the components of

the framework progressed at different pace from this WP and until the validation phase.

However, the activities are described linearly for the sake of clarity.

5.2.4.1. WP 3100 RCOS PROTOTYPING

The starting date of this task was T0+9 months (PDR), and the end date was T0+13

months (before CDR). This WP was led by GMV, and the main contributions were from

DFKI, KUL, UGA, ISAE, SKY and INT.

During this WP early prototyping of the foreseen software components were performed

as proof of concept. This WP participated in the D3.1 Detailed Design Document although

the last version was updated later for the TRR. In addition, the deliverable D3.4

Prototyping Report was elaborated in order to document the results of execution the proof

of concept for each component. Finally the document D3.3 Software Configuration File

was elaborated in a first version in order to control the changes and the new components.


Detailed description of the design of each software component according to the scope

of the work foreseen in the activity

Detailed description of RCOS components and its static and dynamic architecture.

Detailed description of RCOS components focusing on its static architecture.

Description of integration workflow for components developed from scratch.

Description of a prototyping and development of activities on some software

components.

Elaboration of D3.3 Software Configuration File where RCOS and RDEV software

components are identified.

5.2.4.2. WP 3200 DEFINITION AND DESIGN OF REFERENCE IMPLEMENTATIONS

The starting date of this WP was T0+11 months (after PDR), and the end date was T0+14

months (before CDR). The task was led by GMV with contributions from DFKI, UGA, KUL,

SKY, ISAE and INT.

This WP defined the different reference implementations grouping these activities in three

critical scenarios in robotic systems: planetary, orbital and nuclear demonstrators. The

reference

This WP participates in the elaboration of D3.1 Detailed Design Document in order to

identify the needs for each component to fulfil the proposed scenarios. In addition, during

this WP the design of each application was done and showed in the document D3.2 Test

and Integration Plan.


Identify the architecture of each scenario in order to test the whole ESROCOS in a

space or nuclear robotic application.

Identify the goal of each test case in order to test all the components at least in a test

case.

5.2.4.3. WP 3300 TEST SET-UP, TESTING AND INTEGRATION

The starting date of this task was T0+12 months (after PDR), while the end date was

T0+15 months (CDR). This task was led by DFKI with contributions from DFKI, UGA, KUL,

SKY, ISAE and INT.

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This WP covered the definition of all activities regarding testing and integration:

Identification of the facilities involved for each scenario.

Design of the architecture of the test applications.

Development and definition of the integration workflow.

Elaborate a preliminary design of the Test Applications within the identification of each

software component that is deployed in each test case.

Definition of each test case and identification of each part involved as well as software

as hardware.

Check that the traceability with the system requirements was covered.

All these activities are showed in the D3.2 Test and Integration Plan.

5.2.5. WP 4 – MANUFACTURING ASSEMBLY AND INTEGRATION

This major WP was led by GMV and extended from the Critical Design Review (CDR) at

T0+15 months to the Test Readiness Review (TRR) at T0+22 months.

The implementation and integration of the software components and reference

applications advanced progressively with new components being prototyped,

implemented and integrated even beyond until the validation phase.

5.2.5.1. WP 4100 ROBOT MODELLING DEVELOPMENT

The starting date of this task was T0+15 months(CDR), and the end date was T0+19

months (before TRR). It was led by KUL with support from DFKI and GMV.

This WP implemented a component-based modelling toolchain according to the

philosophy of meta-modelling, for the domains of geometric primitives and kinematic

trees.


Development of the kinematics modelling and solver generator software, starting from

the prototypes developed in WP 3100.

Elaboration of D4.2 Structural Modelling Document.

Contribution to the deliverable D4.4 RCOS APIs and Tools document, which serves as

user manual for the framework.

5.2.5.2. WP 4200 MIXED-CRITICALITY DEVELOPMENT

The starting date of this task was T0+15 months (CDR), and the end date was T0+19

months (before TRR). The WP was led by SKY with contributions from ISAE, INT and GMV.

This WP identified the particularities for mixed criticality development in ESROCOS and it

adapted the AIR hypervisor tool to get integrated with the TASTE framework (SKY). ISAE

provided its support for such integration and support of different hardware targets.

In addition, the task was performed in collaboration with Ellidiss in OG2-ERGO, which

carried out the integration of the AIR hypervisor in the TASTE editors. The hypervisor was

integrated in a separate branch of TASTE, and currently it is not yet available for wider

use.

The result of this WP was documented in the deliverable D4.3 Mixed Criticality. The WP

also contributed to D4.4 RCOS APIs and Tools document, which serves as user manual

for the framework.

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5.2.5.3. WP 4300 APIS AND TOOLING DEVELOPMENT

The starting date of this task was T0+15 months (CDR), and the end date was T0+19

months (before TRR). The WP was led by ISAE with contributions from DFKI, UGA, SKY,

INT and GMV.

This WP grouped the implementation activities regarding all the other components of the

ESROCOS framework, including:

Global configuration of the software packages using the Autoproj tool, and

development of the support for the development workflow, TASTE builds and GR740

target with Autoproj.

Implementation of all the RCOS components and integration of external components

(robotics data types, common robotics functions, device drivers, PUS services, etc.).

Implementation of all the RDEV tools and integration of external ones (TASTE

improvements, BIP tools, vizkit3d, etc.).

Implementation of the features to interface with the ROCK and ROS frameworks.

Elaboration of D4.4 RCOS APIs and Tools document to documentation the install

process and the usage of the framework.

5.2.5.4. WP 4400 COMPONENTS INTEGRATION

The starting date of this task was T0+19 months (before TRR) immediately after WP

4100, 4200 and 4300, and the end date was T0+20 months (before TRR). The WP was

led by GMV with contributions from DFKI, KUL, UGA, ISAE, INT and SKY.

This WP covers the integration activities and the unitary testing, although in practice the

integration flow was more extended, with new components being progressively integrated

from the beginning of the implementation phase and well into the validation phase.

The unitary testing activity is the validation of each component of the framework as a

standalone software product according to the document D2.4 Unitary Testing Plan. The

results of the unitary testing are documented in D4.5 Test Report, which includes:

Presentation of validation results for each software component, structured in Review

of Design, Unitary Tests and Code Review.

Definition of the test procedures to run unitary tests (at the time of writing D2.4, the

design was not sufficiently detailed to define test procedures, so these were written

at a later stage and added in an annex of D4.5).

Collection of test coverage for the unitary tests.

Verification of the traceability with the requirements.

5.2.5.5. WP 4500 PLANETARY EXPLORATION DEMONSTRATOR IMPLEMENTATION


4100, 4200 and 4300, and the end date was T0+22 months (TRR). The WP was led by

DFKI with contributions mainly from ADS and UGA, and support from the rest of the

partners.

This WP developed and built the software components of the planetary exploration

demonstrator. It entailed the integration of basic motion libraries within the ESROCOS in

order to command a planetary rover in a representative scenario.

UGA modelled the FDIR component to manage systems failures and inject code in order

to recovery the normal behaviour. This application was deployed on as well as Linux as

RTEMS on the space board GR-740 (part of the application).

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ADS provided the information and interfaces with the BRIDGET rover and the test CAN

device.

The main activities performed were:

Global description of Planetary scenario and hardware facility.

Description of external interfaces.

Description of test cases and identification of the ESROCOS components involved.

Design of component architecture at interface level and at deployment level on

physical hardware.

Implementation of each software component.

Integration of the tests applications for all the tests cases defined in the scenario and

deployment in the corresponding target platforms (lab or space quality).

Elaboration of D4.6 Reference Implementation Design corresponding to Planetary

scenario.

5.2.5.6. WP 4600 ORBITAL DEMONSTRATOR IMPLEMENTATION


4100, 4200 and 4300, and the end date was T0+22 months (TRR). The task was led by

GMV with the main contributions from UGA, KUL, SKY and ISAE.

This WP developed and built the software components of the orbital demonstrator, namely

the commanding of a robotic arm and the acquisition of its internal measurements and

pictures from a camera. UGA modelled a pair of components to manage systems failures

and inject code in order to recovery the normal behaviour. KUL provided the kinematic

model to compute inverse (robot joint states from a given pose) and forward kinematics

(robot pose from robot joint states). This application was deployed on as well as Linux

as RTEMS on the space board GR-740 (part of the application), and tests with the AIR

hypervisor were done with support from SKY.

The main activities carried out were:

Global description of Orbital scenario and hardware facility.

Description of external interfaces.



physical hardware.



deployment in the corresponding target platforms (lab or space quality).

Elaboration of D4.6 Reference Implementation Design corresponding to Orbital

scenario.

5.2.5.7. WP 4700 NUCLEAR DEMONSTRATOR IMPLEMENTATION


4100, 4200 and 4300, and the end date was T0+22 months (TRR). The task was led by

VTT with the main contributions of GMV, KUL and UGA.

This WP exercised part of the RCOS functionality over the one of the basic robots within

the ITER fusion reactor: the Cassette Multifunctional Mover (CMM). The control system of

CMM includes the control hardware (switching relays, safety interlocks, signal

conditioning, data acquisition, joint amplifiers), communication buses, and the real time

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industrial PC. GMV supported VTT for the use of the ESROCOS framework and tools.

Besides, KUL provided the kinematic model to compute inverse (robot joint states from a

given pose) and forward kinematics (robot pose from robot joint states), and UGA

modelled the failure modes of the system and generated an FDIR component.

The main tasks performed were:

Global description of Nuclear scenario and hardware facility.

Description of external interfaces



physical hardware.



deployment in the corresponding target platform (laboratory quality).

Elaboration of D4.6 Reference Implementation Design corresponding to Nuclear

scenario.

5.2.6. WP 5 – EXECUTION OF TESTS AND CORRELATION OF TEST RESULTS

This major WP was led by DFKI and extended from the Test Readiness Review (TRR) at

T0+22 months to the delivery of the Final Acceptance (FA) documentation at T0+24

months.

The FA review meeting was not held at the end of this phase; instead, it was decided at

the PSA level to combine it with the Final Review Meeting (FRM) that will be held at the

end of the activity on T0+27.

In this WP, the three demonstrator applications developed in WP 4 were integrated in the

corresponding facility and tested, validating the capabilities of the ESROCOS framework

to develop and run different robotics applications, the framework and the reference

applications were reworked to solve any issues appearing during integration and tests,

and finally the results of the validation of ESROCOS were compiled.

5.2.6.1. WP 5100 TESTS EXECUTION – PLANETARY EXPLORATION DEMONSTRATOR

The starting date of this task was T0+22 months (TRR), and the end date was T0+24

months (FA). The WP was led by DFKI, with the contribution of ADS and other partners

like GMV, UGA and SKY.

The planetary demonstrator test campaign took place on 17-21 September 2018 at the

Mars Yard facility in Stevenage (UK), provided by ADS in the frame of the OG6-

FACILITATORS project.

The testing was executed by DFKI and it was oriented towards to demonstrate individual

motion control and sensor acquisition of the planetary rover. ADS, in its role within the

ESROCOS consortium, supported the test definition, the campaign execution and the

reporting of results.

The test campaign showed the functionality of the some software components of basic

robotic libraries as stream aligner, data logger, transformer, as well as the possibility to

use BIP for modelling and executing safety routines for robotic systems. Besides the

mentioned modules, additional modules were developed and tested within the campaign.

Implicitly the ESROCOS development tools and the capability of developing robotic

applications based on ESROCOS were tested. In the tests, space-representative hardware

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was involved and it was shown that applications for such hardware can be developed

using ESROCOS and that the software modules stream aligner and transformer are suited

to be executed on such hardware.

The details of the tests implementation the execution of the campaign, the results and

their analysis are documented in D5.1 Planetary Test Report. The demonstrator software

was delivered as SW4 (D5.6).

5.2.6.2. WP 5200 TESTS EXECUTION – ORBITAL EXPLORATION DEMONSTRATOR


months (FA). The WP was led by GMV with contributions of DLR, DFKI, UGA, KUL, SKY

and INT.

The testing was executed by GMV and it was oriented towards to demonstrate individual

motion control and sensor acquisition and pictures from a robotic arm. The test campaign

was planned on 3-14 September 2018 (the actual campaign extended a bit longer) at

GMV’s robotics laboratory in GMV in Tres Cantos, Madrid (Spain). GMV acted both as

facility provider within OG6-FACILITATORS and responsible for the orbital demonstrator

in ESROCOS.

The test campaign validated most of the objectives in the orbital scenario. The usage of

ESROCOS to develop representative robotics applications for manipulator control, running

on a space-representative hardware and software platform, was demonstrated, although

some limitations were found and reported.

Despite these limitations, the overall result of the test campaign in the orbital reference

scenario was satisfactory and most of the system requirements were successfully

validated by the tests.

The issues found during the integration and testing work were solved, reworking the

software as necessary, and updating the scope of the tests when a full solution could not

be provided due to the aforementioned limitations.


their analysis are documented in D5.2 Orbital Test Report. The demonstrator software


5.2.6.3. WP 5300 TESTS EXECUTION – NUCLEAR EXPLORATION DEMONSTRATOR


months (FA). The WP was led by VTT with contributions from KUL, UGA and GMV.

Following the development and integration of the test applications, the test campaign

took place at the VTT premises in Tampere (Finland) on 17-28 September 2018.

The main purpose during the test was to inspect the systems trajectory generation and

quality of the trajectory in order to command the CMM robot. The application developed

with ESROCOS was interfaced with the existing control system of the CMM over UDP.

GMV provided support on the ESROCOS use and execution, while KUL provided the

kinematic model of the manipulator.

The results of the tests were satisfactory. Some anomalies were found with respect to

the rate of the trajectory commanded with high variability in some spikes, but the

trajectories themselves were relatively smooth, and would be fitting for the real CMM

robot.

The causes of these irregularities were analysed and several solutions were proposed.

One important factor was the fact that the demonstrator targeted the lab-quality level

and the application did not run in a real-time platform. The test design in foresaw the

validation of ESROCOS on such a real-time platform within the Planetary and Orbital

scenarios. The results of the Nuclear test cases should be considered in the laboratory

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environment, and addressing the requirements identified in the test definition, which were

adequately met.


their analysis are documented in D5.3 Nuclear Test Report. The demonstrator software


5.2.6.4. WP 5400 CORRELATION OF TEST RESULTS

The starting date of this task was T0+23 months (after TRR), and the end date was T0+24

months (FA). The WP was led by DLR with inputs from all partners.

DLR reviewed the ESROCOS documentation and test results to perform an independent

analysis, collecting the compliance with the system requirements and the advantages

provided by ESROCOS framework to critical robotic systems and RAMS properties. All

partners supported DLR in order to conclude with the lesson learned and the conclusions

during all the development of the project. The activities in this WP included:

Evaluation of technical requirements.

Validation of result tests in the three robotic scenarios (planetary exploration, orbital

and nuclear).

Identification of deviations in requirements compliance.

Identification of lessons learned.

Conclusions focused on RAMS contribution and performance and resource utilization.

Recollection of unitary test results.

The results of the review and analysis were documented in the deliverable D5.4

Evaluation of Test Results.

5.2.7. WP 6 – DISSEMINATION AND EXPLOITATION

This major WP was led by DFKI with contributions from all partners, and extended

throughout the entire duration of the project, from T0 to the Final Review Meeting in

T0+27 months.

The WP includes all the activities related to the dissemination of the project results, the

interaction with the community and target audiences to communicate the activities and

receive feedback, and the preparation for the future evolution of ESROCOS beyond the

end of the project.

This WP includes four deliverable documents:

D6.1 Communication and Outreach Manual: delivered at SRR, this document defined

the internal and external communication procedures for the project.

D6.2 Dissemination Plan: delivered before the PDR, the document established the

dissemination strategy and activity plan for the project.

D6.3 Dissemination Report: delivered at the end of the project, this document

summarizes the dissemination activities carried out and evaluates the execution of

the Dissemination Plan.

D6.4 Exploitation Plan: delivered at the end of the project, this document presents

the strategy for the exploitation of the results of the project by the partners, including

the envisaged usage of the ESROCOS framework as a whole and in terms of

components, as well as the intellectual property and know-how acquired during the

project.

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The scientific publications generated during the project are also considered a deliverable

of this WP (D6.5 Publications), as well as the incremental versions of the software (D6.6

to D6.15), grouped in runtime components (SW1 – RCOS) and tools (SW2 – RDEV).

Regarding the delivery of the software, the file size limitations in SyGMa and JIRA prevent

the software deliverables, that is the entire SW1 and SW2 including binaries, to be

uploaded. For those software components that do not fit the upload limits, a text file with

links to the on-line software repositories where the software can be downloaded has been

provided instead.

The dissemination activities have of course included the production of a variety of

resources and materials, including for instance:

Project logo and templates for documents as well as presentations.

Project website, including public content and a private area with forums and file

repository.

Project organisation at GitHub, with code repositories and a wiki.

Project brochure, video, communications and press releases.

All the dissemination activities and materials are documented in D6.3 Dissemination

Report.

5.2.7.1. WP 6100 WEBSITE AND SOURCE REPOSITORIES

This task, led by DFKI and with contributions from all partners, extended throughout the

entire project from T0 to T0+27 months.

A public website with up-to-date information on the objectives and progress of the

project https://www.h2020-esrocos.eu/ was set up by GMV. It has been maintained

and updated throughout the project with news, media resources and links to the

project documents and software.

Within this website, a private area for the consortium members was set up. This area

contains forums and a file exchange area to support the collaboration among the

partners.

A GitHub organization was set up by DFKI to host the public repositories of the

ESROCOS software (although some previously existing components such as the TASTE

framework, the BIP tools or the AIR hypervisor remain in the repositories hosted by

their parent organizations). The entry point to the project in GitHub is

https://github.com/ESROCOS.

The GitHub repositories also host a set of tutorials and a wiki

(https://github.com/ESROCOS/esrocos.github.io/wiki), which have been populated

with inputs from different partners (see WP 6200 below).

5.2.7.2. WP 6200 REFERENCE DOCUMENTATION

This task, led by GMV and with contributions from all partners, extended throughout most

of the project from T0+3 months (SRR) to T0+27 months.

This WP has elaborated the ESROCOS documentation and tutorials. All the documentation

is published the public wiki (https://github.com/ESROCOS/esrocos.github.io/wiki), which

is accessible from the project website.

A set of basic tutorials has been produced with contributions from different partners in

order to support ESROCOS user’s community. They are available at GitHub and explained

in the public wiki.

The main reference document for the ESROCOS framework is the deliverable D4.4 RCOS

APIs and Tools, which is effectively the User Manual of the framework.

https://www.h2020-esrocos.eu/

https://github.com/ESROCOS

https://github.com/ESROCOS/esrocos.github.io/wiki

https://github.com/ESROCOS/esrocos.github.io/wiki

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5.2.7.3. WP 6300 RCOS PRODUCT WORKSHOPS

This task, led by DFKI and with contributions from all partners, extended throughout most


In order to disseminate the results of the project and gather inputs from the community,

two ESROCOS Workshop were foreseen at the beginning of the project. Of these, only

the first workshop took place.

The first workshop was organized in a dedicated session of the ASTRA 2017 conference

on 20-22 June 2017 at Leiden (The Netherlands). This workshop included a general

presentation of the project and the ESROCOS framework, as well as presentation by the

project partners on the most relevant technologies and tools. In addition, a paper

introducing the ESROCOS framework was published in the conference proceedings.

The workshop was a great opportunity to interact with the space robotics community

including actors who were not part of the SRC and had no previous knowledge on the

project. At the time of the workshop, the design of the framework was in progress and

only some prototyping activities had been launched, so the workshop was more focused

on communicating the direction of the project and gathering feedback, more than

presenting any results.

The second workshop was planned to take place close to the end of the project, in order

to present the results and the final product of the activity. The intended audience was the

space robotics community. However, it was not possible to find a suitable venue at the

desired time during the project.

Following discussions with the PSA, the workshop may be organized during the SRC

second call, for instance in the next edition of ASTRA, which may serve well the interest

of the second call OGs.

The outputs of this task are available within the proceedings of ASTRA 2017, which can

be found at:

http://www.esa.int/Our_Activities/Space_Engineering_Technology/Automation_and_Ro

botics/Proceedings_of_ASTRA.

5.2.7.4. WP 6400 SELF-SUSTAINED FOUNDATION

This task, led by DFKI and with contributions from all partners, extended throughout most


The WP covers the activities aimed at the continuation of ESROCOS beyond the end of

the project.

Initially, it was planned to set up a foundation that would manage the maintenance and

evolution of the framework after the conclusion of the activities. However, the original

plan has been updated according to the mechanism for the maintenance of ESROCOS in

the continuation of the SRC activities defined by the PSA.

The approach defined by the PSA consists in including, in each of the projects of the

second call, a task for the maintenance of one of the building blocks developed in the first

call. The maintenance of ESROCOS is assigned to OG9.

The project finally selected for OG9 is MOSAR, in which GMV leads the task for the

maintenance of ESROCOS. This means that GMV shall maintain the public that will be

needed by the future users of the framework:

The GitHub organization, set up by DFKI and which contains the software repositories,

tutorials and wiki will be handled over to GMV as maintainer. The current members of

the organization will in any case maintain access.

The ESROCOS website, providing access to the general project information and the

public documentation, is already maintained by GMV.

http://www.esa.int/Our_Activities/Space_Engineering_Technology/Automation_and_Robotics/Proceedings_of_ASTRA

http://www.esa.int/Our_Activities/Space_Engineering_Technology/Automation_and_Robotics/Proceedings_of_ASTRA

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5.2.8. WP 7 – MANAGEMENT

This major task extended for the complete duration of the project, from T0 to T0+27

months, and was performed by GMV as project coordinator.

5.2.8.1. WP 7100 CONSORTIUM COORDINATION

This task covered the internal coordination of the consortium, including communications,

planning and monitoring of the execution of the work, organization of meetings and

reporting, among other activities.

The main deliverables from this task are the Progress Reports (D7.1 and D7.2-7.9), as

well as this Final Report (D7.2).

5.2.8.2. WP 7200 OG’S INTERFACING

This task covered the interaction with the other OGs of the SRC first call. An Interface

Engineer was appointed by GMV to coordinate this interaction (initially Miguel Muñoz,

later replaced by Raquel Jalvo).

The main product of this activity was the Integrated ICD established by the PSA with the

inputs from all the OGs. In addition, the communication with the other OGs was very

intense during the requirements phase of the project, and continued at a more reduced

pace throughout the entire project.

5.3. PROJECT MILESTONES

The table below summarizes the milestones of the project. Except for the final two, which

are planned together on 30/01/2019, all the milestones have already taken place in the

dates indicated and they have been approved.

Table 5-1. Project milestones

No. Milestone Title Date Remarks

1 KOM Kick-Off Meeting 07/11/2016

- PM1 Progress Meeting 1 02/12/2016 Internal Kick-Off

2 PM2 Progress Meeting 2 19/12/2016 Numbered as PM1 in the list of milestones

3 SRR System Requirements Review 02-03/02/2017 Combined with ICD workshop

4 PM3 Progress Meeting 3 30/05/2017

5 PDR Preliminary Design Review 05/07/2017 Synchronization meeting with all

OGs on 11-12/07/2017


7 CDR Critical Design Review 23/02/2018


9 TRR Test Readiness Review 10/09/2018

10 FA Final Acceptance T0+24 The FA is planned together with the Final Review Meeting (FRM) that will take place on 30/01/2019 as final milestone of the project. A Final Presentation (FP) will take place at a later point with the other SRC projects.

11 FP Final Presentation T0+27

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5.4. PROJECT OUTPUTS

5.4.1. DELIVERABLES

The table below summarizes the status of the project deliverables at the Final Review Meeting (FRM). The table includes all the project

deliverables identified in SyGMa. The table indicates the deliverable number in SyGMa and internally to the project (there are some

discrepancies due to versioning). For each deliverable, the current issue and date is indicated (note that some documents have been

superseded by a more recent deliverable).

Table 5-2. Deliverables

WP Del. No. (SyGMa)

Del. No. (internal)

Title Lead Nature Diss. Level Issue Date

WP1 D1.1 D1.1 Technology Review Document DFKI Report PU 1.0 19/01/2017

WP1 D1.2 D1.2 System Requirements Document GMV Report PU 1.3 31/08/2018

WP1 D1.3 D1.3 Software Reuse File GMV Report PU Superseded by D2.1

WP1 D1.4 D2.3 Interface Control Document (Preliminary) GMV Report PU Superseded by D2.3

WP2 D2.1 D1.3 Software Reuse File (v2) GMV Report PU 2.0 23/06/2017

WP2 D2.2 D2.1 Product Definition GMV Report PU 1.0 31/03/2017

WP2 D2.3 D2.3 Interface Control Document (v2) GMV Report PU 2.0 23/06/2017

WP2 D2.4 D2.2 Preliminary Design Document ISAE Report PU 1.1 06/09/2017

WP2 D2.5 D2.4 Unitary testing plan UGA Report CO-1 1.1 31/08/2018

WP3 D3.1 D3.1 Detailed Design Document ISAE Report PU 1.1 19/04/2018

WP3 D3.2 D3.2 Test and Integration Plan UGA Report CO-1 1.1 19/04/2018

WP3 D3.3 D3.3 Software Configuration File GMV Report PU Superseded by D4.1

WP3 D3.4 D3.4 RCOS Prototyping Report DFKI Report CO-1 1.0 31/01/2018

WP4 D4.1 D4.1 Software Configuration File (v2) GMV Report PU 2.0 31/08/2018

WP4 D4.2 D4.2 Structural Modelling Document KUL Report PU* 1.1 25/02/2019

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WP Del. No.

(SyGMa)

Del. No.

(internal)


WP4 D4.3 D4.3 Mixed Criticality Document SKY Report PU* 1.2 25/02/2019

WP4 D4.4 D4.4 RCOS API’s and Tools Document GMV Report PU* 1.2 25/02/2019

WP4 D4.5 D4.5 Test Report GMV Report CO-1 1.0 31/08/2018

WP4 D4.6 D4.6 Reference implementations design DFKI Report CO-2 1.1 31/10/2018

WP5 D5.1 D5.1 Planetary Exploration Test Report DFKI Report CO-2 1.0 31/10/2018

WP5 D5.2 D5.2 Orbital Test Report GMV Report CO-2 1.0 31/10/2018

WP5 D5.3 D5.3 Nuclear demonstrator Test Report VTT Report CO-1 1.0 31/10/2018

WP5 D5.4 D5.4 Evaluation of Test Results GMV Report CO-2 1.1 01/03/2019

WP5 D5.5 SW3 Orbital demonstrator source code and binaries GMV Demonstrator CO-1 1.0 31/10/2018

WP5 D5.6 SW4 Planetary exploration demonstrator source code and binaries

DFKI Demonstrator CO-1 1.0 31/10/2018

WP5 D5.7 SW5 Nuclear demonstrator source code and binaries VTT Demonstrator CO-1 1.0 31/10/2018

WP6 D6.1 D6.1 Communication & Outreach Manual DFKI Report PU 1.0 19/01/2017

WP6 D6.2 D6.2 Dissemination Plan DFKI Report PU 1.0 28/02/2017

WP6 D6.3 D6.3 Dissemination Report DFKI Report PU 1.1 01/03/2019

WP6 D6.4 D6.4 Exploitation Plan GMV Report PU 1.0 18/01/2019

WP6 D6.5 - Publications DFKI Other PU See below

WP6 D6.6 SW1-V0 RCOS Target Source code and binaries (V0) GMV Demonstrator PU V0 25/07/2017

WP6 D6.7 SW2-V0 RDEV (RCOS development environment) source code and binaries (V0)

DFKI Demonstrator PU V0 25/07/2017



WP6 D6.10 SW1- V3 RCOS Target Source code and binaries (V3) GMV Demonstrator PU V3 31/10/2018


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WP Del. No.

(SyGMa)

Del. No.

(internal)


WP6 D6.12 SW2-V1 RDEV (RCOS development environment) source code and

binaries (V1)


WP6 D6.13 SW2-V2 RDEV (RCOS development environment) source code and

binaries (V2)






WP7 D7.1 R1 Progress Report 1 GMV Report CO-1 1.0 31/01/2017

WP7 D7.2 D7.2 Final Report GMV Report PU 1.0 18/01/2019








* The deliverables D4.2, D4.3 and D4.4, which contain information on the usage of the ESROCOS framework, were originally classified at

CO-2 but following the Final Review Meeting it was agreed to make them Public.

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The Table 5-3 below details the list of scientific publications produced by the project corresponding to the deliverable D6.5. This data will

be also provided in Part A of the Final Report (to be generated from the information reported in the SyGMa portal).

Table 5-3. Publications

Type Title DOI Authors Title of journal or

equivalent

Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Conference

proceeding

ESROCOS: A

Robotic Operating System for Space and Terrestrial Applications. In Proceedings of the 14th Symposium on Advanced Space Technologies in Robotics and Automation

M. Muñoz

Arancón, G. Montano, M. Wirkus, K. Hoeflinger, D. Silveira, N. Tsiogkas, J. Hugues, H. Bruyninckx, I. Dragomir, A. Muhammad

Proceedings of the 14th

Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 20017)

14 ESA 2017 No Gold https://www.esa.int/Ou

r_Activities/Space_Engineering_Technology/Automation_and_Robotics/Proceedings_of_ASTRA

Invited Talk

(unpublished)

European space

robotics control and operating system (ESROCOS)

- Jérôme

Hugues

12th National

Conference on Software and Hardware Architectures for Robot Control (SHARC17)

12 - 2017 No No

Workshop

Presentation

ESROCOS in

Context of DLR’s Reconfigurable High-performance Platform for Space Missions

- K. J. Höflinger,

D. Lüdtke

ASTRA 2017

ESA 2017 No

https://elib.dlr.de/1128

58/1/2017_06_21_ESROCOS_ASTRA_WS_DLR.pdf

Workshop

Presentation

ESROCOS: A

Robotic Operating System for Space and Terrestrial Applications

- Miguel Munoz ASTRA 2017

ESA 2017 No

https://www.esa.int/Our_Activities/Space_Engineering_Technology/Automation_and_Robotics/Proceedings_of_ASTRA






https://elib.dlr.de/112858/1/2017_06_21_ESROCOS_ASTRA_WS_DLR.pdf




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equivalent

Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Workshop

Presentation

Formal Validation of

TASTE Designs with the BIP Framework

- I. Dragomir ASTRA 2017

ESA 2017 No

http://www-

verimag.imag.fr/~dragomir/docs/astra17.pdf

Workshop

Presentation

ESROCOS

Component Development Workflow

M. Wirkus ASTRA 2017

ESA 2017 No

Workshop

Presentation

Formal Models of a

Space-Grade Robot Motion Software Stack

- H. Bruyninckx ASTRA 2017

ESA 2017 No

Workshop Presentation

Integrating ROS Open-Source Robotics Software Framework in ESROCOS

- N. Tsiogkas ASTRA 2017

ESA 2018 No

Workshop Presentation (unpublished)

ESROCOS: A ROBOTIC OPERATING SYSTEM FOR SPACE AND TERRESTRIAL APPLICATIONS

- Daniel Silveira Sistemas Embebidos e de Tempo-Real, Inforum 2018

2018 No No

Workshop Presentation (ubpublished)

ESROCOS - An Open Control and Operating System for Robotic Applications

Benjamin Kisliuk

GI Workshop Roboterkontrollarchitekturen

3.-4. 7 2018

Gesellschaft für Informatik

2018 No No -

http://www-verimag.imag.fr/~dragomir/docs/astra17.pdf



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equivalent

Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Journal paper Performance

Evaluation of Stochastic Real-Time Systems with the SBIP framework.

10.1504/IJC

CBS.2018.096439

Ayoub Nouri,

Braham Lotfi Mediouni, Marius Bozga, Jacques Combaz, Saddek Bensalem, Axel Legay

International Journal of

Critical Computer-Based Systems (IJCCBS)

Vol. 8, No.

3/4

Inderscience 2018 Yes Green https://www.h2020-

esrocos.eu/wp-content/uploads/UGA_SBIP_IJCCBS18.pdf

Conference proceeding

SBIP 2.0: Statistical Model Checking Stochastic Real-time Systems

10.1007/978-3-030-01090-4_33

Braham Mediouni, Ayoub Nouri, Marius Bozga, Mahieddine Dellabani, Axel Legay, Saddek Bensalem

ATVA 2018 - 16th International Symposium Automated Technology for Verification and Analysis

16 Springer 2018 Yes Green https://www.h2020-esrocos.eu/wp-content/uploads/UGA_SBIP_ATVA18.pdf


The Refinement Calculus of Reactive Systems Toolset

10.1007/978-3-319-89963-3_12

Iulia Dragomir, Viorel Preoteasa, Stavros Tripakis

Tools and Algorithms for the Construction and Analysis of Systems. TACAS 2018. Lecture Notes in Computer Science

vol 10806 Springer 2018 Yes Gold https://link.springer.com/chapter/10.1007/978-3-319-89963-3_12

https://www.h2020-esrocos.eu/wp-content/uploads/UGA_SBIP_IJCCBS18.pdf




https://www.h2020-esrocos.eu/wp-content/uploads/UGA_SBIP_ATVA18.pdf




https://link.springer.com/chapter/10.1007/978-3-319-89963-3_12



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equivalent

Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Journal Paper (submitted)

The Refinement Calculus of Reactive Systems

- Iulia Dragomir, Viorel Preoteasa, Stavros Tripakis

Journal of the ACM - ACM - Yes Green https://arxiv.org/abs/1710.03979 https://arxiv.org/abs/1710.03979 or https://www.h2020-esrocos.eu/wp-content/uploads/UGA_RCRS_Theory_Arxiv18.pdf


Designing Systems with Detection and Reconfiguration Capabilities: A Formal Approach

10.1007/978-3-030-03424-5_11

Iulia Dragomir, Simon Iosti, Marius Bozga, Saddek Bensalem

8th International Symposium, ISoLA 2018

8 Springer 2018 Yes Green https://www.h2020-esrocos.eu/wp-content/uploads/UGA_FDIR_ISOLA18.pdf


Knowledge Based Optimization for Distributed Real-Time Systems

10.1109/APSEC.2017.106

Mahieddine Dellabani, Jacques Combaz, Saddek Bensalem, Marius Bozga

2017 24th Asia-Pacific Software Engineering Conference (APSEC)

IEEE 2017 Yes Gold https://hal.archives-

ouvertes.fr/hal-01888605/document

Journal Paper Local Planning

Semantics: a Semantics for Distributed Real-Time Systems

Mahieddine

Dellabani, Jacques Combaz, Saddek

Leibniz Transactions on

Embedded Systems

Dagstuhl

Publishing

Yes Yes

https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1710.03979&d=DwMD-g&c=CIoxZ4z5BqFvKvSGFOTo726QZIiNTc_M9CmngT-Pla4&r=E_MUDwjoJq7boJMCUZ0NwQ&m=6QoUnKr7klwt6WSwdbQ7imGRrtrzMLXogtoiAF5Nszg&s=8cTfu4PrcOU78Ybt2Bn3BuhbD7w3RgP1KT4zMdJiAfk&e=




https://urldefense.proofpoint.com/v2/url?u=https-3A__www.h2020-2Desrocos.eu_wp-2Dcontent_uploads_UGA-5FRCRS-5FTheory-5FArxiv18.pdf&d=DwMD-g&c=CIoxZ4z5BqFvKvSGFOTo726QZIiNTc_M9CmngT-Pla4&r=E_MUDwjoJq7boJMCUZ0NwQ&m=6QoUnKr7klwt6WSwdbQ7imGRrtrzMLXogtoiAF5Nszg&s=IR7OFIhCTy8H2izlA8FMC_f3W2YVKo8xUPEd3coagdI&e=





https://www.h2020-esrocos.eu/wp-content/uploads/UGA_FDIR_ISOLA18.pdf




https://hal.archives-ouvertes.fr/hal-01888605/document



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equivalent

Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Bensalem, Marius Bozga

Workshop Presentation (unpublished)

A brief introduction to the SBIP2 Statistical Model Checker

Braham Lotfi Mediouni

12th International Conference on Verification and Evaluation of Computer and Communication Systems (VECoS 2018)

No No

Conference proceeding (accepted)

Mechanically Proving Determinacy of Hierarchical Block Diagram Translations

arXiv:1611.01337v2

Viorel Preoteasa, Iulia Dragomir, Stavros Tripakis

VMCAI 2019 - 20th International Conference on Verification, Model Checking, and Abstract Interpretation

Springer 2019 Yes Gold https://arxiv.org/pdf/1

611.01337v2

Conference proceeding (submitted)

Quantitative Risk Assessment in the Design of Resilient Systems

Braham Lotfi Mediouni, Iulia Dragomir, Ayoub Nouri and Saddek Bensalem

NFM 2019: 11th Annual NASA Formal Methods Symposium

Green http://www-

verimag.imag.fr/TR/TR-2018-10.pdf

Conference proceeding (submitted)

Towards the qualification of an AADL model transformation tool

with contracts

Guillaume Brau, Christophe Garion, and

Jérôme Hugues

NFM 2019: 11th Annual NASA Formal Methods Symposium

Green

Conference proceeding (accepted)

Code generation from declarative models of robotics solvers

Marco Frigerio, Enea Scioni, Pawel Piotr Pazderski,

IEEE IRC 2019: 3rd International Conference on Robotic Computing,

IEEE 2019 Yes

https://arxiv.org/pdf/1611.01337v2

https://arxiv.org/pdf/1611.01337v2

http://www-verimag.imag.fr/TR/TR-2018-10.pdf



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Number,

Date

Publisher Year Peer

review

Open

access

Download Link

Herman Bruyninckx

5.4.2. SOFTWARE PRODUCTS

The Table 5-4 below summarizes the software assets that have been produced in the ESROCOS project. The table helps identifying the

result of the activity that will be available for the future SRC activities under the Collaboration Agreement. To this end, the table identifies

which organizations within the ESROCOS consortium own the intellectual property of each software component.

In addition, the ESROCOS framework is provided under open-source licenses, which are identified in the table for each component. Open-

source licensing does not extend to the demonstrators build in the activity, and in these cases a proprietary license is indicated.

Table 5-4. Software assets from the ESROCOS project

Repository Description URL Scope Category License IP

buildconf Framework’s configuration https://github.com/ESROCOS/buildconf Framework Configuration - ESROCOS consortium

bundles/cmm_control TASTE model for controlling the CMM robot (actual robot or gazebo simulation).

https://spass-git-ext.gmv.com/esrocos/bundles-cmm_control

Demonstrator RCOS Propietary GMV, VTT

bundles/cmm_control_simple

Basic TASTE model for the CMM robot, without path planning, for interface testing.

https://spass-git-ext.gmv.com/esrocos/bundles-cmm_control_simple

Demonstrator RCOS Propietary GMV, VTT, DFKI

bundles/orbital_test TASTE models for testing the use cases for orbital scenario

https://spass-git-ext.gmv.com/esrocos/bundles-orbital_test

Demonstrator RCOS Propietary GMV, UGA, KUL, DFKI

bundles/ur5_control TASTE model for controlling the UR5 robotic arm (actual robot or gazebo simulation).

https://spass-git-ext.gmv.com/esrocos/bundles-ur5_control

Demonstrator RCOS Propietary GMV, UGA, KUL

demonstrator/planetary_exploration/replay

TASTE integration project for the planetry validation scenario application (log replay)

https://github.com/ESROCOS/demonstrator-planetary_exploration-replay

Demonstrator RCOS 3-clause BSD DFKI

drivers/taste/controldev TASTE joystick driver https://github.com/ESROCOS/drivers-taste-controldev


https://github.com/ESROCOS/buildconf












https://github.com/ESROCOS/drivers-taste-controldev

https://github.com/ESROCOS/drivers-taste-controldev

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esrocos.github.io Wiki https://github.com/ESROCOS/esrocos.github.io

Framework Documentation - ESROCOS consortium

external/dart Library DART(Dynamic Animation and

Robotics Toolkit) modified for invalid keywords for TASTE

https://spass-git-

ext.gmv.com/esrocos/dart_library

Demonstrator RCOS 2-clause BSD Personal

Robotics Lab, Carnegie Mellon

University

fake_can_device Socket CAN based program to fake Bridgets actuator

https://github.com/ESROCOS/fake_can_device

Standalone Test 3-clause BSD DFKI

gr740/candriver TASTE component to send Bridget CAN messages via GR740

https://github.com/ESROCOS/gr740-candriver


gr740/round_trip_time TASTE component to test and evaluate an Ethernet connection between the GR740 and a remote PC

https://github.com/ESROCOS/gr740-round_trip_time

Framework Test 3-clause BSD DFKI

gr740/stream_aligner TASTE component using the stream aligner library and developed for GR740

https://github.com/ESROCOS/gr740-stream_aligner


gui/vizkit3d_taste TASTE vizkit3d functions https://github.com/ESROCOS/gui-vizkit3d_taste

Framework RCOS GPLv2 GMV

ilk/compiler Generator of C++ code from ILK code

https://github.com/ESROCOS/ilk-compiler

Framework RDEV 2-clause BSD KUL

ilk/generator Generator of ILK code from robot model

https://github.com/ESROCOS/ilk-generator

Framework RDEV 2-clause BSD KUL

kin/gen Actual code generator tool (container of the two repos above)

https://github.com/ESROCOS/kin-gen Framework RDEV 2-clause BSD KUL

package_set/core Autoproj package set defining the

core components of ESROCOS

https://github.com/ESROCOS/package_s

et-core

Framework Configuration - ESROCOS

Consortium

package_set/external Autoproj package set defining external dependencies used in ESROCOS

https://github.com/ESROCOS/package_set-external

Framework Configuration - ESROCOS Consortium

package_set/universe Package set defining other packaged software

https://github.com/ESROCOS/package_set-universe

Framework Configuration - ESROCOS Consortium

perception/aruco_marker_detection

TASTE component implementing a Aruco Marker detector

https://github.com/ESROCOS/perception-aruco_marker_detection


plex/blsclient TASTE component exposing interfaces of the BridgetAPI to TASTE

https://github.com/ESROCOS/plex-blsclient


plex/demonstrator/record Planetary demonstrator setup to be used to control BRIDGET and logging data

https://github.com/ESROCOS/plex-demonstrator-record


plex/pose_visualisation Experimental project working with the pose visualization

https://github.com/ESROCOS/plex-pose_visualisation


https://spass-git-ext.gmv.com/esrocos/dart_library

https://spass-git-ext.gmv.com/esrocos/dart_library

https://github.com/ESROCOS/gui-vizkit3d_taste

https://github.com/ESROCOS/gui-vizkit3d_taste

https://github.com/ESROCOS/kin-gen

https://github.com/ESROCOS/package_set-core

https://github.com/ESROCOS/package_set-core





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plex/transformer Component to transform body states from one reference frame to another

https://github.com/ESROCOS/plex-transformer

Framework RCOS 3-clause BSD DFKI

plex/transformer_test Component network to test the plex

transformer component

https://github.com/ESROCOS/plex-

transformer_test

Testing Test DFKI

plex/mc_watchdog Integration to test the Watchdog designed with BIP

https://github.com/ESROCOS/plex-mc_watchdog.git

Demonstrator RCOS CeCILL-B DFKI,UGA

control/mc_watchdog BIP component that monitors the periodic joystick driving for a rover

https://github.com/ESROCOS/control-mc_watchdog.git

Demonstrator RCOS CeCILL-B UGA

ros/ur5_robot ROS package for UR5 robot visualization tests (generated code)

https://spass-git-ext.gmv.com/esrocos/ros-ur5_robot

Demonstrator RCOS Propietary GMV

testing/data_log_replay_ut Implementation project for the unitary test of the logger component

https://github.com/ESROCOS/testing-data_log_replay_ut

Unitary Test RCOS 3-clause BSD DFKI

testing/data_logger_ut Implementation project for the unitary test of the logger component

https://github.com/ESROCOS/testing-data_logger_ut

Unitary Test RCOS 3-clause BSD DFKI

tools/config Configuration scripts and templates for ESROCOS

https://github.com/ESROCOS/tools-config

Framework RDEV 3-clause BSD DFKI

tools/data_logger_components

Collection of TASTE components for data logging purposes

https://github.com/ESROCOS/tools-data_logger_components


tools/data_logger Library implementing data logging functionality

https://github.com/ESROCOS/tools-data_logger


tools/dispatchers Collection of TASTE components duplicating certain RI calls

https://github.com/ESROCOS/tools-dispatchers


tools/imagetransfer TASTE functions to segment and transfer images

https://github.com/ESROCOS/tools-imagetransfer


tools/libpus PUS services library https://github.com/ESROCOS/tools-libpus


tools/robotic_arm Miscellaneous of libraries for controlling, planning and simulating the ur5 and cmm robots

https://spass-git-ext.gmv.com/esrocos/tools-robotic_arm

Demonstrator RCOS Propietary GMV

tools/rock_bridge TASTE-ROCK bridge component generation

https://github.com/ESROCOS/tools-rock_bridge

Framework RDEV GPLv2 GMV

tools/rock2asn1 Tool to import of ROCK types to ASN.1

https://github.com/ESROCOS/tools-rock2asn1


tools/ros_bridge TASTE-ROS bridge component generation

https://github.com/ESROCOS/tools-ros_bridge


tools/ros2asn1 Tool to import ROS types to ASN.1 https://github.com/ESROCOS/tools-ros2asn1


tools/stream_aligner Ported stream aligner from ROCK to be used in ESROCOS

https://github.com/ESROCOS/tools-stream_aligner


tools/taste2rock Tool to export TASTE IVs to Orogen https://github.com/ESROCOS/tools-taste2rock




https://github.com/ESROCOS/plex-transformer_test

https://github.com/ESROCOS/plex-transformer_test























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tools/transformer A library to be used in ESROCOS components to provide transformations between coordinate frames

https://github.com/ESROCOS/tools-transformer


tools/workflow Tools for the ESROCOS development workflow

https://github.com/ESROCOS/tools-workflow

Framework RDEV 3-clause BSD DFKI

tutorial/cam_capture Tutorial camera capture component https://github.com/ESROCOS/tutorial-cam_capture

Framework Documentation 3-clause BSD DFKI

tutorial/driver Tutorial driver component https://github.com/ESROCOS/tutorial-driver


tutorial/plex Tutorial application based on the planetary exploration demonstrator

https://github.com/ESROCOS/tutorial-plex

Demonstrator Documentation 3-clause BSD DFKI

tutorial/system_integration Example of how system integration can be done in

https://github.com/ESROCOS/tutorial-system_integration


types/base Base ASN.1 data types imported from ROCK (generated code)

https://github.com/ESROCOS/types-base


types/base_support Conversion functions between ROCK C++ types and ASN.1 types in C (generated code)

https://github.com/ESROCOS/types-base_support


types/controldev Types for JoystickCommand in ASN1 generated from corresponding ROCK types

https://github.com/ESROCOS/types-controldev


types/ros ASN.1 data types imported from ROS (generated code)

https://github.com/ESROCOS/types-ros Framework RCOS GPLv2 GMV

AIR ARINC 653 Interface in RTEMS https://spass-git-ext.gmv.com/AIR/AIR Framework RCOS GPLv2 SKY

TASTE2BIP Converter from SDL TASTE function to BIP model

https://gricad-gitlab.univ-grenoble-alpes.fr/verimag/bip/TASTE2BIP

Framework RDEV CeCILL-B UGA

BIP compiler & engine Real time and stochastic real time BIP compiler & engine

https://gricad-gitlab.univ-grenoble-alpes.fr/verimag/bip/compiler

Framework RCOS CeCILL-B UGA

SMC-BIP Statistical Model checking of BIP models

https://gricad-gitlab.univ-grenoble-alpes.fr/verimag/bip/sbip2

Framework RDEV CeCILL-B UGA

control/bip/monitor_joints BIP component that monitors reading and commanding joints and force of UR5 robot

https://spass-git-ext.gmv.com/esrocos/control-bip-monitor_joints

Demonstrator RCOS Propietary UGA, GMV

control/bip/watchdog_timeout

BIP component that watches that path_planers takes a long time in computing a valid trajectory

https://spass-git-ext.gmv.com/esrocos/control-bip-watchdog_timeout

Demonstrator RCOS Propietary UGA, GMV

tools/kul/gen_cpp Library autogenerated by Kul tool for computing inverse and forwards kinematic for UR5 robot

https://spass-git-ext.gmv.com/esrocos/tools-kul-gen_cpp

Demonstrator RCOS Propietary KUL,GMV







https://spass-git-ext.gmv.com/AIR/AIR















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tools/kul/cmm_gen Library autogenerated by Kul tool for computing inverse and forwards kinematic for CMM robot

https://spass-git-ext.gmv.com/esrocos/tools-kul-cmm_gen

Demonstrator RCOS Propietary KUL, GMV

bundles/logger_csv TASTE models to convert from data_logger file to CSV.

https://spass-git-ext.gmv.com/esrocos/bundles-logger_csv

Demonstrator RCOS Propietary GMV, DFKI

Fork of polyorb_hi_c Fork of repository Polyorb-hi-c from TASTE with SpaceWire driver adapted (for merge upstream)

https://spass-git-ext.gmv.com/esrocos/polyorb-hi-c

Framework RCOS GPLv3+runtime

exception

GMV, ISAE

Fork of Ocarina Fork of repository ocarina from TASTE with Star Dundee brick mk3 driver added (for merge upstream)

https://spass-git-ext.gmv.com/esrocos/ocarina

Framework RCOS GPLv3+runtime

exception

GMV, ISAE

SOEM library Simple Open EtherCAT Master Library https://github.com/OpenEtherCATsociety/SOEM

Framework RCOS GPLv2 INT

EtherCAT driver Simple Open EtherCAT Master Library for RTEMS

https://github.com/lounick/rtems-source-builder/tree/rtems5-soem

Framework RCOS 2-clause BSD INT











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https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_lounick_rtems-2Dsource-2Dbuilder_tree_rtems5-2Dsoem&d=DwMFaQ&c=CIoxZ4z5BqFvKvSGFOTo726QZIiNTc_M9CmngT-Pla4&r=0-_qjpUPDVUgXlCXBdusCw&m=x5e8c5vSA66KO2w1W72x33vH-P3-0cGDoYoqNX-qkcc&s=uzNSkKPKAARMZ6kQTUJRIU-xc5rk7CM2Wat_eSq9kG8&e=

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6. IMPACT

The expected impact of the COMPET-04-2016 a) call reads the following:

“Technologies compliant with very high standards of RAMS which can be usable in

future space robotics missions.”

In the ESROCOS proposal, the expected impact was further specified covering both the

technical and societal aspects. This section analyses to which extent these expectations

have been achieved throughout the project.

6.1. TECHNICAL IMPACT

Four objectives were defined regarding the technical impact of the project:

[Objective 1] Preparing future of space robotics (e.g., Mars Sample Fetching Rover or

orbital robotics arms) by integrating, into an RCOS, technologies with very high

RAMS standards.

ESROCOS is based on the TASTE framework for model-based development of critical

software, which was developed by ESA specifically for the production of space software

systems. The project has extended the capabilities of this framework, integrating new

modelling and verification technologies (e.g., SMC-BIP), hardware drivers (e.g., GRETH,

GRSPW2) and platforms (e.g., the AIR hypervisor).

However, in order to build an RCOS the key is the robotics capabilities. Common robotics

data types have been defined, based on existing frameworks, to model the interfaces

between components and with other robotics building blocks. In addition, ESROCOS has

developed a new model-based methodology for robot and solvers modelling, and

consequently implemented tools for code generation. Other robotics functions are support

for geometric transformations, data stream management and logging. Specifically for

space robotics, a PUS services library with an OBCP engine has been implemented to

enable flexible on-board programming and support autonomy (these capabilities have

been used in the ERGO project). Finally, widely-used tools such as Gazebo (simulation),

RVIZ and vizkit3d (visualization) have been integrated for use in ESROCOS.

The RAMS attributes achieved for ESROCOS are not high enough to tackle the

development of critical systems yet. The project has had an important exploratory

component and the RCOS has been validated using relatively simple scenarios.

Nevertheless, significant efforts have been invested in improving the maturity of the

runtime components of TASTE, the hypervisor and the drivers, as well as the different

modelling tools. Instead of building qualified tools from scratch, the consortium has

improved existing tools toward a future qualification in the context of a mission.

Furthermore, it must be taken into account that the RAMS properties do not apply to all

the components of ESROCOS. The framework is intended to support the development of

applications from laboratory to space quality, and a considerable part of the work during

the project has been targeted to development tools (e.g., continuous integration),

support tools (e.g., logging, visualization and simulation) and integration tools (e.g., with

ROCK and ROS) that are essential in the development workflow but do not have RAMS

requirements by themselves.

[Objective 2] Ensuring that the RCOS that will be developed within this project can be

adopted in the implementation of future envisaged European space robotics

mission. There is often a gap between the advanced technologies that are developed by

institutes and SMEs, and the ones that are finally selected to [develop operational

missions].

In order to remove any blocking elements for the future adoption of the system, the

ESROCOS consortium has included the reference industrial partner for advanced space

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missions’ implementation (Airbus DS) and the reference institute for space robotics within

Europe (DLR). These partners have played an important role in the definition of the

system requirements, the test scenarios and the evaluation of the test results.

Other aspect of the project aimed at maximizing impact and adoption have been the use

of open-source licenses. This applies both to the newly developed software, which is open-

source and publicly available at GitHub, and the existing tools and dependencies

integrated in the framework, which have been selected considering the compatibility of

their license with the intended usage.

Finally, the interaction with the PSA, the other OGs and with the community, especially

at focused events such as the ESROCOS workshop at ASTRA 2017, have had an important

role in aligning the capabilities of the framework with the requirements of future missions.

[Objective 3] Exploit the advances in RCOS from other sectors (spin-in effect) to

maximize ESROCOS outputs. This means relying on already existing frameworks like ROS,

ROCK and GenoM, but also reusing lessons learnt in the development of RCOS in highly

safety demanding environments like Nuclear plants (due to the involvement of VTT in the

team).

ESROCOS is tightly integrated with the ROCK and ROS frameworks (the GenoM

framework, with less adoption, was finally not addressed). This integration includes the

compatibility of data types, the integration of tools coming from their respective

ecosystems (e.g., vizkit3d, transformer, RVIZ, etc.), and the development of tools that

allow for the interaction between an ESROCOS application and a ROS or ROCK application

at runtime. This permits the development of applications that are a mix of ESROCOS and

external, legacy components, or that integrate existing ROS and ROCK modules to

implement the lab-quality elements of a system.

The role of VTT has also been important in contributing to the requirements definition

from a different perspective than space robotics, and in validating the framework with a

reference application in the nuclear domain, which required modelling and interfacing

with a very different kind of robot, therefore validating the flexibility of ESROCOS.

[Objective 4] Ensuring coherence among the different building blocks that will be

developed by the parallel operational grants, by having a dedicated integration engineer

that will monitor the progress of the other OGs and will act as the main interface of our

project. This will help also having clear interfaces of the ESROCOS system with the other

building blocks and making sure that their later integration can be as smooth as possible.

The interaction with the parallel OGs has been rather smooth throughout the project. The

first part of the project, up to the Preliminary Design Review where the external interfaces

of the RCOS were defined, were of active interaction between the OGs at meetings and

contacts between the respective interface engineers. After this review, each project

focused more in its own design consolidation and development and the interactions were

more sporadic.

The presence of certain partners, such as DFKI, UGA, ADS or GMV, in more than one OG

also facilitated the communication and consistency of the results. In the particular case

of OG2-ERGO, the reference implementation already included certain components

developed in ESROCOS, such as the OBCP engine. In turn, the validation of ESROCOS

has integrated some algorithms developed in ERGO, such as the manipulator path

planning, in the test applications.

At the final stages of the project, the fact that the ESROCOS software was publicly

available in GitHub contributed to the awareness of the other OGs and helped identifying

some issues in the software.

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6.2. PROGRESS BEYOND THE STATE OF THE ART

The ESROCOS project has resulted in some progress beyond the state of the art. The

ESROCOS framework has novel characteristics, both technical and non-technical, that

make it a valuable contribution to the domain:

It is an RCOS built specifically for the needs of the space robotics community.

It is provided under open-source licenses in order to facilitate its adoption.

It integrates a Time and Space Partitioning (TSP) hypervisor, which is proposed as a

possible way to integrate non-deterministic algorithms (e.g., for autonomy or sensor

fusion) in critical systems with real-time constraints (e.g., low-level fast control loops).

It relies on model-based and formal approaches, which are relevant for space and

other critical application domains.

ESROCOS integrates several existing tools and components, many of which have been

improved in the context of the project. The robot modelling tools developed in the project

also push forward the state of the art.

The fact that ESROCOS is based on technologies that have a trajectory outside the project

is critical for the success of the platform. Together with the use of ESROCOS in the

upcoming activities of the Space Robotics SRC, the maturity and usage track of the

constituent tools will be a critical factor for the adoption of the framework.

Some of the advancements brought to or by the ESROCOS tools are summarized below.

The BIP framework has been applied to a new use case and improved significantly,

resulting in a number of scientific publications. The following advances can be

highlighted:

Modelling of robotic control systems with the BIP framework. The BIP language

has been enriched and is successfully used to capture different aspects of such

systems like real-time behaviour, non-deterministic stochastic behaviour, etc.

Tight integration between model-based system and software engineering tools

such as TASTE and the BIP framework. This integration covers two aspects: (i)

formalization and automated transformation of semi-formal models to BIP models

and (ii) use of checked BIP C++ generated code into the original system design

(with possible minor changes).

Scalability and efficiency of the BIP tools, as well as of the BIP C++ generated

code. The newly redesigned and extended statistical model-checking tool (SMC-

BIP) has, for an academic tool, a considerable technology readiness showed by its

successful use on multiple industrial grade case studies.

New results in robotics control systems formal validation with the BIP tools, and

SMC-BIP in particular. These results are exploited in other research areas relevant

to the design of safety critical systems, such as safety and security risk

assessment.

Contribution and progress of the published state of the art in rigorous system

design. All results obtained on and with the BIP tools are presented in 7

international level publications, either published or under submission. Relevant

work on model-based control system design (for Simulink) has also led to 3

international publications.

The kinematics modelling tool developed by KUL within ESROCOS is a first

implementation of a methodology for robotics software development, which to the

best of our knowledge has not been investigated before. The methodology advocates

the use of automatic code generation, given a high level models and configuration,

together forming a semantically complete specification of the software.

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The TASTE tools have been applied to the robotics domain in challenging use cases,

modelling large applications in terms of number of components and interconnections,

as well as data flows. This has required several improvements of the framework:

The qualification of the Ocarina code generator tool has been started with the

preparation of the required documentation. An innovative qualification strategy

based on source code level patterns detailed in NFM’19 paper has been proposed.

New modelling patterns have been proposed to support both TSP and SMP with

CMU/SEI partner inside AADL and TASTE.

Improved support and maturity of the whole TASTE toolchain with ESA and Ellidiss,

as part of joint work with ERGO, in particular helped ESA in improving the maturity

of RTEMS5 driver stacks through TASTE-based case studies.

The AIR hypervisor has been evolved to add support for RTEMS 5 (the version of

RTEMS currently in qualification process for future ESA missions), SMP and SMP +

AMP. In addition, the hypervisor has been integrated into the TASTE toolchain so that

partitioned applications can be modelled and generated by the framework.

The TASTE framework, that to our knowledge had not been previously applied in the

nuclear robotics domain, has been tested in a reference scenario. In addition, other

technologies not commonly used in this context, such as URDF, have been applied.

The Autoproj build system, originating from ROCK, has been extended to support

building TASTE models as well as RTEMS applications for LEON targets (SPARC

architecture).

6.3. SOCIOECONOMIC IMPACT

For what concerns the socioeconomic impacts, which are related to aspects that go

beyond the PERASPERA PSA framework and that can touch also on economical and

societal aspects, three objectives were initially identified:

[Objective 1] Creation of new market opportunities in space robotics and

enhancement of the innovation capacities of the entities involved by promoting an

ESROCOS self-sustained foundation; which will ensure continuation of ESROCOS

beyond the project.

This is a triple objective referring to the impact of the project at industry level, both for

the consortium members and beyond. The fulfilment of this objective is closely related

with the open-source nature of the software.

The main differentiating characteristic of ESROCOS is that it constitutes a bridge between

existing open-source robotics frameworks, suitable for use at laboratory level, and space-

quality software systems. This connection is reflected in the workflow, tools and interfaces

of ESROCOS. The path from laboratory to space-quality robotics applications may reduce

development times and costs, opening new opportunities especially for small players that

will be able to move software components or entire robotics systems from prototyping to

qualification and operational usage.

In terms of capability building for the consortium members, the results of the project

have been positive. One important aspect of ESROCOS is that it largely relies on

integrating and improving existing assets that are already in use beyond the domain of

space robotics, either in terrestrial robotics or generic on-board software. Many of the

new developments are applicable to these more general domains. Detailed plans for the

exploitation of the project results by each partner are provided in D6.4 Exploitation Plan.

The initial plans for the project foresaw the promotion of a self-sustained foundation to

ensure the continuation of ESROCOS. These plans have later been adapted to the strategy

defined by the PSA for the continuation of the building blocks from the first SRC call,

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which consists in defining, in each of the projects of the second call, a task for the

maintenance of one of the building blocks. The maintenance of ESROCOS was assigned

to OG9.


maintenance of ESROCOS. Maintenance should be understood here as an open-source

package maintainer role, responsible for integrating the inputs from external contributors,

in this case the OGs of the second call, in which several members of the ESROCOS

consortium will be participating. This structure will guide the continuation of the ESROCOS

framework beyond the project.

[Objective 2] Strengthening the competitiveness of European space robotics

development chain, by addressing advanced technologies in the field of robotics,

operating systems and RAMS, and by releasing in open source the ESROCOS product.

This will create a community that will be able to use and contribute to the technologies

that we will integrate, as well as making sure that there are no barriers that would prevent

the European robotics community to use the results of our activity.

All the components and dependencies of ESROCOS are open-source software and they

are publicly available at GitHub or in their own repositories. Open-source has a

multiplicative effect, as contributions from an individual player benefit the community at

large, and conversely each user can benefit from the work of the community.

The results of ESROCOS benefit in particular the competitiveness of the European space

robotics industry in two ways. Firstly, the design of the framework is guided by the

requirements of the PSA and aligned with the European space robotics roadmap and the

software engineering methods promoted by ESA. Secondly, an open-source and modular

solution facilitates the exploitation of the results by smaller players and SMEs, which are

very important in the European space industry.

[Objective 3] Increase interest in space robotics in the European society by

disseminating the project activities to the general public (and attracting the interest of

women in robotics research activities).

The results of the ESROCOS project are mainly software infrastructure components, and

therefore it is not easy to communicate to the general public. Nevertheless, the project

has developed an important dissemination effort, including communications in the

generalist press and participation in events open to the general public, as detailed in the

D6.3 Dissemination Report. Communications targeting the general public have stressed

the context of the project, the testing with robots and the future applications.

By providing an open-source platform to develop space robotics systems starting from

the lab, ESROCOS enables future research activities in the domain. The SRC activities of

the second call are an example of new types of robotics applications made possible by

the building blocks and that may capture the imagination of the general public. As

ESROCOS is open source, it is available for the community to develop new engaging

projects.

With respect to attracting the interest of women in the domain of robotics and research,

the consortium has not developed any activities with this specific purpose but the project

has counted with the participation of several women roboticists, engineers and software

scientists. In order to increase the participation of women in these areas, the presence

of experienced women in the industry and the academia is very important, not only

because of their technical and scientific contributions but also as role models for girls who

want to pursue a career in the domain.

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7. DEVIATIONS FROM ANNEX 1 AND ANNEX 2

7.1. TASKS

7.1.1. DEVIATIONS WITH RESPECT TO RESOURCE PLANNING

Some deviations with respect to the usage of resources planned at the beginning of the

activity have been identified. The following paragraphs justify the deviations at the

different partners and confirm the elements indicated in the review.

GMV

Justify the deviation (underspent) of the productive time (84.97 PMs spent vs. 145

PMs planned).

During the development of the project, commercial projects for the development of

common technology with ESROCOS have resulted to be directly applicable to the scope

of ESROCOS. Those technology projects fall within the framework of ESA. GMV has

therefore developed part of ESROCOS technology in the framework of these programs,

which has resulted in considerable savings in the use of resources in ESROCOS.

The SARGON project (Space Automation and Robotics General Controller), in

particular, made important contributions to the ESROCOS technology. SARGON was a

project funded by ESA as a precursor study in the same topic as ESROCOS. Several

elements in ESROCOS, such as the robotics data types, the integration of visualization

tools, or the TASTE modelling framework had been initially developed or used in

SARGON. The insight acquired in SARGON also helped to reduce the amount of

exploratory work and prototyping, and to quickly define the design of the system.

The CORA-MBAD project (Compact Reconfigurable Avionics – Model Based Avionics

Design), funded by ESA, contributed to the modelling with the TASTE tools of the

GR740 platform used in ESROCOS and the development of device drivers. ESROCOS

did not need to develop the drivers from scratch, and instead focused on extending

them and adding support for a newer OS version (RTEMS 5).

In consequence, the work planned for ESROCOS could be reduced by the reuse of

some components and done more efficiently thanks to the insight gained from the

concurrent studies.

In the opinion of the GMV administration and finance department, the efforts of the

developments that have been financed within the framework of commercial projects

cannot be transferred to the justification of the ESROCOS grant and therefore the

financial justification has been prepared on that basis.

Justify the overspent in PMs on WP3 (37.6 PMs spent vs. 24 planned).

A significant part of the prototyping and early implementation activities initially

foreseen in WP2 were postponed and performed in WP3 instead due to team

availability, as well as dependencies between the technical activities and software

components themselves. This means that the productive time underspent in WP2 was

to a large extent recovered in WP3.

Justify the underspent of personnel costs, 45% less consumed than forecasted in the

budget (EUR 441,761.25 spent vs. EUR 754,000 planned).

The underspent of personnel costs is consequence of the reduction of productive time

justified above.

DFKI

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Justify the overspent of the productive time in all WPs (PMs spent/planned for WP1

3.13/3 ; WP2 15.28/13 ; WP3 17.27/15 ; WP4 29.64/27 ; WP5 6.46/5 ; WP6

14.15/14).

In sum of all WPs, DFKI used 11,57% more PM than initially planned. Following we

justify the extra effort for the work packages individually:

- WP1/2: In the project the TASTE software system was used, which is not a

development of DFKI. To derive the requirements and system designs, a

throughout technical analysis of system had to be done. The complexity of the

system was initially not fully known, thus the higher demand in personnel effort

was identified only after the project start.

- WP3/4/5: As the target system for the validation tests was undetermined at

proposal time, the effort was not defined in detail. Eventually, a robotic system of

Airbus DS, located in UK, was used. The confrontation with a unknown robotic

system and the remote location resulted in more effort than expected.

- WP6: Participation the IAC and preparing the booth required extra personal effort

that was not planned for initially

Justify the overspent of the personnel costs (EUR 541,909.20 spent vs. EUR 539,000

planned).

DFKI used 0.54% more budget than initially planned. Due to the technical challenges

in WP1-5, junior level employees and technicians had to be used instead of a initially

planned senior level researcher with higher PM rates.

UGA

Justify the overspent of the productive time of WP5 (6.45 PMs spent vs. 6 planned).

The involvement of UGA and the BIP tools (BIP compiler, SMC-BIP) in the three

scenarios (orbital, planetary, nuclear) required slightly more effort than originally

planned in WP5 (that is, restricted to the orbital and planetary scenarios).

Justify the large underconsumption of PMs and budget (32.52 PMs spent vs. 50

planned).

The UGA budget was calculated such that two post-docs could be hired to implement

the proposal. However, UGA was able to hire a single post-doc for the almost entire

length of the project (Iulia Dragomir) and involved two PhD students for a few months

(Rany Kahil, Sourav Das). Therefore, in order to implement the actions and meet the

deadlines, two senior permanent CNRS researchers in the VERIMAG lab (Marius

Bozga and Jacques Combaz) have been involved to the project. This is specified in

Annex 1, part B, section 4.2.3 of the Grant Agreement. Given that their involvement

was higher than anticipated, the difference is seen in the costs for CNRS (see

additional explanation in the next section).

Confirm that the beneficiary is using actual/real costs as recorded in its accounting.

Yes, UGA is using the actual/real costs for personnel.

CNRS (third-party beneficiary of UGA)

Justify the overspent of the productive time in WP4 (5.55 PMs spent vs. 1 planned)

and WP5 (1 PMs spent vs. 1 PM planned); possibly could refer to WP6 (1.77 PMs spent

vs. 1 planned).

See the answer below.

Justify the overspent of the productive time (16 PMs spent vs. 11 planned) and the

budget of personnel costs (EUR 108,854.61 spent vs. EUR 72,197 planned).

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VERIMAG is a mixed research unit between UGA, CNRS and Grenoble INP (no member

of the latter is involved in the project). UGA has the mandate in this project, and

CNRS is identified as linked third party (article 14 from the Grant Agreement). Article

6.3 allows to consider the eligible costs for CNRS in the budget, even if these were

higher than anticipated. That is, as explained earlier, two senior CNRS researchers,

namely Marius Bozga and Jacques Combaz, were involved in the project to

compensate for the missing post-doc initially planned on the UGA budget.

UGA redistribute internally the budget between itself and CNRS based on the actual

costs. This action does not require any amendment. This issue has been discussed

with the European contracts manager from UGA, which confirmed the above and that

no particular action needs to be taken.

KU Leuven

Justify the overspent in the productive time (63.73 PMs spent vs. 53 planned) and the


From the point of view of KU Leuven, the ESROCOS proposal was budgeted with dr.

Erwin Aertbeliën in mind, him being available for the full duration of the project. He

is our most senior expert in the matter (more than 20 years of experience), but also

our most costly engineer. Due to the inevitable unpredictability of which project

proposals are approved, and of what personnel is available at the moment they start,

dr. Aertbeliën has to be replaced by junior people. (Her remained available for

discussion and expert advice, but did not perform the work himself.) Junior research

engineers Davide Monari and Zhang Lin, and "fresh" postdoc dr. Marco Frigerio were

the people who could be assigned to the project full-time (during part of the project);

another semi-senior postdoc, dr. Enea Scioni, could spend actual work from time to

time, in close collaboration with dr. Frigerio. The lower seniority of the people that

have been executing the project resulted in a lower than foreseen "outcome" per PM,

but also in a cheaper cost per PM. KU Leuven's experience with this situation (which

is very common in an academic context where we cannot give most researchers and

developers permanent positions, and where the availability of project is extremely

unpredictable a year in advance) is that these two effects tend to balance each other

quite well; in the sense that the outcome of the developments is very comparable, in

quality as well as in quantity. And the PI can always make this equation match: in

the university context, also the PI is the person who can allocate his time and costs.

This has also been the case in this particular context of ESROCOS.

Justify the overspent of the productive time in WP1 (3.29 PMs spent vs. 2 planned)

and WP4 (42.59 PMs spent vs. 15 planned).

The activities of KU Leuven in the ESROCOS project were very clear from the

beginning: design, implementation and testing of a model-based kinematic library. In

practice, the division of the spent efforts in parts that fit nicely in WP1, WP2, WP3,

WP4 or WP5 is artificial: by the nature of the expected R&D activity, KU Leuven has

gone through several iterations of modelling, design, implementation and testing,

during the whole duration of the project, from the first to the last day. Hence, for KU

Leuven, the division of the PMs over the WPs and over time could never have been

done "correctly", from a pure bookkeeping point of view: the WP's timing do not fit

well to the much more research-centered nature of KU Leuven's activity in ESROCOS,

and reflected better the development process of the other partners.

The result is that the time sheeting that the KU Leuven contributors have been doing

during the project have been administratively allocated to the WP description where

these collaborators saw the best fit, which is WP4. (This is to a large extent the

responsibility of KU Leuven's PI, who has given that advice to the collaborators when

they asked to which WP they should report their activities in the time sheeting tool.)

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The biggest "loser" of this practice is the "Dissemination" WP6. KU Leuven was given

10 PMs in there, to make its work known in the broader robotics community. In

practice, and by the nature of open source software development together with the

very visible position of KU Leuven in the broader robotics software development

community, dissemination is an inherent and inseparable part of the R&D work. It is

not only part of each and every interaction that the developers were having inside and

outside of the project, but dissemination of ESROCOS material always goes together

with dissemination of KU Leuven's results in other, complementary, projects. Hence,

our collaborators mostly do not select "dissemination" when reporting their activity in

the time sheeting tool that KU Leuven provides to its collaborators.

In summary, and over the whole project, KU Leuven has delivered what was expected,

without asking for more money than was budgeted, but the timing of its activities as

well as the administrative reporting of its actual efforts to specific WPs was impossible

to match perfectly. We apologize for the confusion this may cause.

Questions related to the CFS answered by E&Y June 11th, 2019:

Independent report: There is a contradiction on the fees presented in the independent

report and the ToR, please correct it

The fees charged were set at 975 euros per audit performed on the project. In the

ToR, this amount is set as a basis for the audit with the remark that in case additional

services are required, an additional fee of 130 euros per hour becomes due. However

the latter is exceptional and as well not applicable for the project ESROCOS. The

Independent Report confirms that we charged the base fee of 975 euros on the project

ESROCOS.

Point A: please provide the number of audited people of the sample:

We verified all expenses related to personnel employed on the project and as such did

not work on a sampling basis.

ADS

Confirm that the beneficiary is using actual/real costs as recorded in its accounting.

Personnel cost is based on actual cost of the relevant cost centre (total cost / average

headcount to get the cost per head) for the years up to and including 2018. For 2019

it is based on the actual pay cost for 2018.

DLR

Personnel costs: confirm that the beneficiary is using actual/real costs as recorded in

its accounting.

We confirm that the reported costs are our actual costs.

Justify declared PMs on WP2 (2.98 PMs spent vs. no productive time foreseen).

This is an error. The effort reported for WP1 (1.95 PMs) corresponds to task 1100,

and the effort reported for WP2 (2.98 PMs) corresponds to task 1200. Both tasks

constitute the WP1, so the total effort for this WP1 is 4.93 PMs, and the effort for

WP2 was zero, as foreseen. This has been corrected in the Use of Resources report

at the web portal.

Travelling, provide the following information: where the event took place (city) and

number of people who attended.

This information has been included in the Use of Resources report through the web

portal.

Additional clarification requested regarding the difference between the costs of the

travel to Madrid.

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The variation of the travel costs is due to the variation in flight prices. The SRR trip,

with a cost of 292 Euros, benefitted from extraordinarily cheap flight prices, in

comparison with the other trips that are all above 500 Euros.

SKY

Justify the overspent in the productive time (75.22 PMs spent vs. 57 planned) and the


Additional effort was spent in two main things:

- Additional difficulties to set interfaces of AIR with TASTE, later solved with

inclusion of TASTE done in ERGO. Resulting test unexpected errors while using

TASTE ERGO platform led to additional effort.

- More dissemination work than planned was done.

More detail is provided in the justification below.

Justify the overspent of the productive time in WP1 (3.26 PMs spent vs. 2 planned),

WP3 (27.61 PMs spent vs. 14 planned), WP4 (24.39 PMs spent vs. 20 planned), WP5

(5.69 PMs spent vs. 4 planned) and WP6 (5.70 PMs spent vs. 5 planned).

- WP1 – Attempted to anticipate work of WP2. The result was successful, and

in consequence there was lower spent than predicted in WP2.

- WP3/WP4 – Definition of interface of AIR with TASTE had more difficulties than

expected in WP2, as consequence work some work was moved to WP3 and

WP4, therefore WP3/WP4 workload was higher and WP2 was lower than

planned.

- WP5 – The Test execution used TASTE GUI developed in ERGO, during testing

unexpected errors in ERGO TASTE lead to additional effort to report, solve and

retest.

- WP6 – Apart from all proposed namely setting the website, create a specific

GitHub for AIR and producing AIR publications disseminating ESROCOS, there

was an additional effort (and workload) of improving ESROCOS tutorials with

a new AIR manual and demo video (available at GitHub), and participation

dissemination 4 events (EuroSpace DASIA, ESA OBDH 2019, IST workshop

and Portugal Inforum) that was more than planned.

INT

Justify the overspent in the budget of other direct costs (EUR 9,597 spent vs. EUR

9,000 planned).

We tested the EtherCAT SOEM - RTEMS integration on different relevant hardware

platforms, which cost was higher than anticipated during the budget calculations prior

to the project start. Hence the slight overrun in the 'other costs' section.

Justify the deviations of the productive time in WP4 (9.83 PMs spent vs. 9 planned).

WP4 includes integration and testing, Intermodalics spent more time than anticipated

to solve the porting problems from RTEMS on ARM to RTEMS on LEON4, which was

finally not possible.

ISAE

Justify the overspent in the budget of personnel costs (EUR 153,579 spent vs. EUR

139,549 planned).

Considering the needed efforts of developments required by the ESROCOS project,

ISAE proceeded to the recruitment of two junior research engineers (Hariprasath

SHANMUGASUNDARAM from January 2017 to December 2017 – 3 months on WP2

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and 8.5 months on WP3 - Guillaume BRAU from May 2017 to aril 2018 - 2 months

on WP2, 6 months on WP3 and 4 months on WP4), hence a greater manpower effort

while remaining as close as possible to the authorized grant amount.


its accounting.

ISAE confirms the use of actual/real costs duly certified by ISAE financial department

and ISAE principal accountant.

ISAE recorded its employees working time on monthly basis. The time-records were

authorised and signed by the project manager (Jérome HUGUES) and countersigned

by his department head (Rob VINGERHOEDS).

Employees costs (salary and employer's costs) are obtained from ISAE payroll data

system.

Justify the deviations of the productive time on WP2 (6.83 PMs spent vs. 6 PMs

planned) and WP3 (19.22 PMs spent vs. 6 planned).

See above the explanation of the overall personnel costs overspent, which details the

participation of the recruited personnel in WP2 and WP3.

Travelling: EUR 10,460.09; confirm if the travels lasted one day, otherwise add the

dates (from-to); add the purpose of each meeting (review, WP, etc.).

This information has been provided in the updated report on Use of Resources in the

web portal.

Bonuses: EUR 3.648,75 - According to Article 6 of the GA: Personnel costs must be

limited to salaries (including during parental leave), social security contributions,

taxes and other costs included in the remuneration, if they arise from national law or

the employment contract (or equivalent appointing act). Confirm in which of these

documents the criteria is fulfilled to pay the bonuses.

Two students (Antonia FRANCIS and Raphaël DEFOIN) have completed an internship

for the benefit of ESROCOS program. According to French regulations, those interns

received a stipend (a kind of reward or compensation, free of any contributions and

income tax and on the basis of 3,75€/hour and so 26,25€/day (article D124-1 to

D124-13 of the French National Education Code)).

Antonia FRANCIS : 85 days for a total of 2 273,75€ (5 in march 2018, 19 in April

2018, 18 in May 2018, 21 in June 2018, 20 in July 2018, 2 in august 2018)

Raphaël DEFOIN: 54 days for a total of 1 444,50€ (20 in June 2018, 20 in July 2018,

14 in august 2018)

The terms of the initial declaration were not correct or appropriate because these

stipends are not a bonus or additional salary for one of the staff involved in this

program.

VTT

Justify the overspent of the productive time in WP5 (6.29 PMs spent vs. 1.5 planned).

Originally the PM cost was calculated for a senior scientist with higher PM rates.

However, at a later stage of the project a junior scientist was included to do the

development work. That is why more PMs are spend in WP5 than originally planned.


its accounting.

VTT confirms that they use category b) Direct personnel cost declared as unit costs

(average costs). See the explanation letter annexed to this document for further

details.

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7.1.2. DISCREPANCIES WITH THE TECHNICAL ACTIVITIES PLANNED

The consortium considers that there has not been major deviations with respect to the

plan and the deliverables. The main discrepancies with the activities initially planned have

been:

Of the two ESROCOS Workshops foreseen, only the first one was finally organized.

Justification: Ideally, this workshop should have presented the results of the

validation in the reference scenarios in a meeting that congregates the space robotics

community. However, it was not possible to find a suitable venue at the adequate

time. Following discussions with the PSA, the workshop may be organized during the

SRC second call, for instance in the next edition of ASTRA, which may serve well the

interest of the second call OGs.

The self-sustained foundation for the continuation of ESROCOS beyond the end of the

project has not been set up.

Justification: The mechanism for the maintenance of ESROCOS in the continuation

of the SRC activities has been adapted to the strategy defined by the PSA for the

continuation of the building blocks from the first SRC call, which consists in defining,

in each of the projects of the second call, a task for the maintenance of one of the

building blocks. The maintenance of ESROCOS was assigned to OG9.


maintenance of ESROCOS. Maintenance should be understood here as an open-source

package maintainer role, responsible for integrating the inputs from external

contributors, in this case the OGs of the second call, in which several members of the

ESROCOS consortium will be participating. This structure will guide the continuation

of the ESROCOS framework beyond the project.

The GitHub organization set up by DFKI to enable public access and collaboration

around ESROCOS will be handled over to GMV as maintainer. Current members of the

organization will in any case maintain access. The technical Wiki of ESROCOS is hosted

at GitHub. In addition to it, GMV already maintains the ESROCOS website with the

project information and documentation.

Beyond these deviations, some of the technical objectives have not been fully reached.

They do not constitute deviations with respect to the plan, but concern the scope of the

results finally obtained. The mismatches with the technical objectives are extensively

discussed in the technical documentation. The list below is provided as summary.

The model verification using previously TASTE2BIP is not fully automated. The model

transformation does not generate a BIP model fully equivalent to the initial TASTE

one. The model is more general, and it does not include all the concepts in the

deployment view (these are not automatically translated and must be manually

modelled).

The integration of AIR in TASTE has been done with the support of Ellidiss (OG2). AIR

is currently integrated at the TASTE editors’ level, but not yet in the build support

infrastructure (managed by ESA). Currently it is possible to model AIR systems with

multiple partitions, but not distributed systems that combine AIR nodes with other

types of nodes such as Linux.

The EtherCAT driver has not been ported to the target space platform (GR740).

Development and unitary testing was done on ARM, but the LEON3/4 port of RTEMS

uses a different, deprecated network stack that does not provide the required

functionality.

The coding rules MISRA C++:2008 are not compliant for drivers and nuclear scenario

due to cost tools for SMEs and academic institutions.

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7.2. USE OF RESOURCES

The consortium considers that no relevant deviations between actual and planned of

resources has happened in the project.

7.2.1. UNFORESEEN SUBCONTRACTING

No unforeseen subcontracting has taken place.

7.2.2. UNFORESEEN USE OF IN KIND CONTRIBUTION FROM THIRD PARTY

AGAINST PAYMENT OR FREE OF CHARGES

No unforeseen use of in-kind contributions from third parties has taken place.

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7.3. OPEN TECHNICAL ISSUES

The table below, compiled according to action item FRM_A02 of the Final Review Meeting, lists the open technical points identified at the

end of the project and that will possibly need to be addressed during the follow-up and maintenance activities of call 2 of the SRC.

The table identifies the component in which the issue is identified, describes the issue and includes an initial analysis of the problem and

the possible solution approach. Only the issues affecting the common framework components are detailed. Issues related to the test

application components are not included, as these are not relevant for the future SRC activities.

Table 7-1. Open technical issues (FRM_A02)

Component Issue description Approach

buildconf Currently, all installations must be in a machine with user name "taste" (as in the TASTE VM), because gems_install_path is forced to /home/taste/.autoproj/gems in the

configuration file config.yml

~/.autoproj/gems and $HOME do not work for ruby/gem reasons. The solution would be to remove the config.yml file altogether (because anyway, it was originally meant to support quick default installation, not

being the standard way) or to use autoproj reconfigure. Both options seem

not really nice on first glance. The best solution would probably be to either patch the file during the install script or to ask the user (undesirable).

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buildconf The variables generated by the init.rb script in env.sh are set like this:

if test -z "$CMAKE_PREFIX_PATH"; then CMAKE_PREFIX_PATH="/home/esrocos/esrocos_workspace/install"

else CMAKE_PREFIX_PATH="/home/esrocos/esrocos_workspace/install:$CMAKE_PREFIX_PATH"

fi export CMAKE_PREFIX_PATH This causes that, when env.sh is sourced more than once, paths are appended to the environment variables several times.

If a variable is expected to contain a list of paths, for instance PATH, this is harmless. But if it is expected to contain a single path,

for instance CMAKE_PREFIX_PATH, it causes problems. There should be a way to define the variables in init.rb so that the path is not appended.

This comes from the init.rb in the package set. It's possibly an autoproj issue. Investigate if a different autoproj command instead of "env_inherit"

has the desired effect.

buildconf The PYTHONPATH environment variable set by autoproj conflicts with the one set by tASTE. Autoproj.env_set 'PYTHONPATH', "/home/assert/.local/lib/python3.4/site-packages:/home/taste/.local/lib/python3.5/sit

e-packages"

This also leads to the TASTE tools not to work if one sources the env.sh file. TASTE operation shouldn't be affected by the ESROCOS toolchain.

To do manually: > unset PYTHONUSERBASE > export PYTHONPATH=/home/esrocos/esrocos_workspace/install/lib/python:/home/esrocos/tool-inst/include/ocarina/runtime/python:/home/esrocos/tool-inst/lib:

Other possible solution would be to let autoproj use the default

PYTHONUSERBASE. It should be possibe to do this by setting the variable ÀUTOPROJ_PYTHONUSERBASE` to the default. This could be done in the ìnit.rb` script like shown below: Autoproj.env_set 'AUTOPROJ_PYTHONUSERBASE', ènv -i python -m site --user-base`.chop

Testing requires updating the buildconf "master" branch, which affects all users. To be done in new installs for 2nd call OGs.

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buildconf Currently branches are used for installing the orbital demonstrator (branch external-orbital

of package_set-external)

Possibly create dedicated package sets in new OGs.

package_set/external Currently a branch external-orbital in order to install orbital demonstrator

Possibly create dedicated package sets in new OGs.

TASTE Excessive memory usage in TASTE. Optimization of the memory used by buffers is identified as an improvement

needed for TASTE. It was safer to defer it as it requires in-depth change that would break API compatibility. Given the risk for ESROCOS, it was decided to postpone it. It requires the collaboration of ESA and ISAE, mainly. It will be addressed in future evolutions of TASTE .

TASTE Driver configuration hardcoded in TASTE. Initially the drivers configuration was defined at the TASTE DV level, using ASN.1 syntax. but as new heterogeneous drivers were added this was not enough and some parameters were moved to the C code. This is a known limitation and it is intended to be solved it in the future after a careful review of usage domain for these configuation parameters. The approach needs to be validated by ESA.

TASTE Uncertainty If physical connections are broken in the middle of execution time or if a connection does not exist, the TASTE function is not initialized.

This can suppose a problem to reconfigure a system. It would be very useful the possibility of having opened connections when system is initialized as well as in the middle of runtime.

ilk/compiler Not integrated in autoproj, it is installed in

/usr/

Integrate it and change CMakeLists.txt

ilk/generator Not integrated in autoproj Integrate it

kin/gen Not integrated in autoproj Integrate it

tools/rock2asn1 In OpaqueConversions.hpp there are functions added manually and this file is

regenerated each time

Add that funcionality in the tool in ordet to autogenerate them or only it generates this file if it does not exist

TASTE2BIP Not integrated it in autoproj Integrate it

SMC-BIP Not integrated it in autoproj integrate it

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tools/libpus PUS Console encapsulates Qt applications and it is incompatible with another Qt application.

It must be deployed in separate partitions.

This limitation affects only Qt-based applications, which are for lab use and run on x86/linux. There is almost no cost in using an additional x86 node,

which will generate an additional executable to be run in the same machine. There are no plans to provide a workaround, it's only something to be known by the user.

gui/vizkit3d_taste Vizkit GUI encapsulates Qt applications and it

is incompatible with another Qt application. It must be deployed in separate partitions.

This limitation affects only Qt-based applications, which are for lab use and

run on x86/linux. There is almost no cost in using an additional x86 node, which will generate an additional executable to be run in the same machine. There are no plans to provide a workaround, it's only something to be known by the user.

gui/vizkit3d_taste Bug in ROCK's robot_visualization: Qt signal to update after adding each joint to the 3D view can cause errors; the signal should be generated only after all the joints are loaded.

Reported at ROCK's GitHub, upstream solution needed to fix problem.

AIR AIR integration in TASTE only at editors'

level.

Ellidiss (OG2) extended the TASTE metamodel and editors to cover the TSP

configuration. ISAE adapted the Ocarina toolset to support AIR as runtime platform. The remaining adaptations are at the level of the build support,

which is managed by ESA. In principle, the features will be integrated in future versions of TASTE. ISAE in collaboration with SKY continues to work on the adaptation, currently there is already some build-support functionality and further features are being added.

AIR Integration of the AIR hypervisor in the TASTE framework incomplete.

The work will be completed as part of ESA's MORA-TSP activity.

BIP compiler & engine Not integrated it in autoproj Integrate it

EtherCAT driver SOEM EtherCAT library not ported to RTEMS for LEON (only for ARM) because the LEON

version uses a deprecated network stack.

ESA is qualifying a newer version of RTEMS for LEON. However, OBSW doesn't normally use the Ethernet, so it is unlikely that the network stack is

updated and qualified. This will finally depend on the possible use of

EtherCAT in an operational mission.

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8. SUMMARY FOR PUBLICATION

This section contains the publishable summary of the project that will be included in the

Part A of the Final Report that is filled in in the SyGMa portal. The text is included here

for convenience in the review.

8.1. CONTEXT AND OVERALL OBJECTIVES OF THE PROJECT

The development of software for robotic systems has become easier with the emergence

of robotics frameworks. Such frameworks, of which ROS is the most popular, support the

development of robotics software by structuring the software in components

interconnected by well-defined interfaces.

The framework usually provides a modelling abstraction, a set of ready-to-use

components that implement common robotic functions, and a runtime environment that

manages and communicates the application components during execution. Furthermore,

the framework often defines a development process to manage the configuration and

integration of the software, supported by a set of software tools.

The term Robot Control Operating System (RCOS) has been coined to denote this type of

robotics frameworks. In this case, “operating system” should not be understood in the

sense of a layer of software in charge of managing access to the computer resources.

Instead, it is more similar to a Linux OS “distribution”, binding together a large number

of packages that provide the means to build and run robotics applications.

The experience at ESA has shown that robotic systems such as the ExoMars rover or the

European Robotic Arm (ERA) developed for the International Space Station (ISS) require

significant software engineering effort when compared with other satellite space missions.

This is due to the complexity introduced by the robotic application, together with the lack

of software heritage. Little or no software commonality and reuse exists across missions

that are not directly related.

To mitigate this lack of reuse and develop robotics software in a more cost-effective

manner, the usage of RCOS frameworks is an obvious solution. However, existing

frameworks are in general not suited for use in space applications. The most popular

open-source frameworks have not been developed with critical applications in mind, and

lack the Reliability, Availability, Maintainability and Safety (RAMS) characteristics required

by space software. On the other hand, systems currently used in industrial or critical

applications are normally proprietary and tied to specific robot platforms.

In the past, efforts to develop a standard space robot control software at European level

have succeeded in their immediate objectives but failed to get traction and to be adopted

in operational missions due, among other reasons, to their proprietary origin, the lack of

a sizable user community, and a design for a particular type of robot.

For these reasons, it was decided to build ESROCOS, an RCOS specifically designed for

space robotics, as a software building block for future missions. The objectives set for the

ESROCOS project were:

To develop a space-oriented RCOS, considering the RAMS attributes, the avionics

environment and the communication protocols characteristic of space systems.

To integrate advanced modelling technologies to model both robots and software

systems, that facilitate the development of correct-by-construction software.

To focus on the space robotics community, involving in the development several

stakeholders that provide their know-how on current and future missions.

To allow for the integration of software components of different criticality and real-

time requirements, in order to address the needs of complex robotics applications.

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To prevent vendor lock-in by releasing the RCOS as open-source software and

avoiding dependencies on proprietary components.

To leverage existing technologies, frameworks and tools and benefit from their

maturity and usage track.

To interoperate with existing robotics frameworks and facilitate the integration of

legacy software with newly-developed algorithms and functions.

To cross-pollinate with non-space solutions and applications, in particular in the

domain of nuclear robotics that shares some characteristics with space.

The results of the ESROCOS project are evaluated by using the RCOS in the development

of robotics applications based on three reference scenarios: the in-orbit servicing of a

satellite, a planetary exploration rover, and a nuclear robotics scenario.

8.2. WORK PERFORMED

The ESROCOS project has specified, designed and implemented an open-source Robot

Control Operating System (RCOS) for space robotics that integrates proven and new

technologies, and it has validated the RCOS product in three reference scenarios: in-orbit

satellite servicing, planetary exploration rover and nuclear robotics.

The project began with a technology review and specification phase, followed by the

architectural and detailed design of the framework, the software implementation and

integration, the design and development of the reference applications, and the final

testing and reporting.

In parallel, the partners have participated in many dissemination activities to promote

the ESROCOS framework and its constituent technologies among their prospective users

in the community, the stakeholders and the general public. The ESROCOS consortium has

produced several scientific publications and participated, among other events, in the

ASTRA 2017 conference on space robotics and automation (where a workshop dedicated

to ESROCOS was held), the International Astronautic Conference (IAC) 2018 (which is

the largest encounter of space professionals worldwide) and the European Space Agency

(ESA) Industry Days 2018.

ESROCOS is a framework for developing robot control software applications. It includes

a set of tools that support different aspects of the development process, from

architectural design to deployment and validation. In addition, it provides a set of core

functions that are often used in robotics or space applications.

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Figure 8-1. Components and architecture of the ESROCOS framework

The ESROCOS framework is intended to support the development of software following

the ECSS standards for space software. It does not by itself cover all the development

phases and verification steps, but it facilitates certain activities and ensures that the

software built can be made compatible with the Reliability, Availability, Maintainability

and Safety (RAMS) requirements of critical systems.

The above figure summarizes the main elements of the ESROCOS framework. At the top

of the figure there are tools for robots, software and failure modelling. These are

supported by the common data types for component interfacing, and basic libraries for

robotics functions, logging and telecommanding. The middleware layer allows for the

management and communication of software components at runtime. A mixed criticality

layer is added to isolate application components at runtime. Finally, the applications may

run on three environments according to the desired software quality level: laboratory,

high reliability and space quality.

The boxes on the sides of the figure represent orthogonal concerns. Firstly, ESROCOS

integrates with third-party tools and frameworks to support different activities and

facilitate the reuse of existing code. Secondly, ESROCOS supports the configuration and

deployment of complex applications via continuous integration. Finally, the figure

highlights that ESROCOS is open-source and relies on non-proprietary technologies in

order to encourage usage and contributions from the community.

The validation in the space reference scenarios took place in two test facilities provided

by the FACILITATORS project: the BRIDGET rover and the Mars Yard at Airbus DS in

Stevenage (UK), and the platform-art© orbital simulation facility at GMV in Madrid

(Spain). In addition, the nuclear reference scenario was implemented in the International

Thermonuclear Experimental Reactor (ITER) robotics test facility at VTT in Tampere

(Finland).

The focus of the validation was the production and testing of a set of robotics applications

that exercise the different elements of ESROCOS. The reference applications addressed

the functional layer of the robotics systems, specifically for a rover and two manipulator

arms. The aim of the tests was not to build fully autonomous systems, but to demonstrate

the software capabilities that will allow to do so in the future, in combination with the

other building blocks that have been developed in concurrent projects.

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Figure 8-2. ESROCOS testing in planetary (top), in-orbit servicing (bottom-left)

and nuclear (bottom-right) reference scenarios

8.3. PROGRESS BEYOND THE STATE OF THE ART AND POTENTIAL

IMPACTS

The ESROCOS project has produced a framework to aid in the development of space

robotics applications, which have specific needs in terms of Reliability, Availability,

Maintainability and Safety (RAMS). To fulfil this purpose, the ESROCOS framework

combines a set of characteristics in a novel way:

It is built specifically for the needs of the space robotics community, with inputs from

the community.

It is provided under open-source licenses in order to facilitate its adoption.

It integrates a Time and Space Partitioning hypervisor, which is proposed as a possible

way to integrate non-deterministic algorithms in critical systems with real-time

constraints.

It relies on model-based and formal approaches, which are relevant for space and

other critical application domains.

It is compatible with existing, widely-used robotics frameworks.

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ESROCOS integrates several existing tools and components, many of which have been

improved in the context of the project. The fact that ESROCOS is based on technologies

that have a trajectory outside the project is critical for the success of the platform,

providing a live ecosystem that will persist beyond the end of the project.

The main tools that have been improved are:

The TASTE framework for model-based software development, aimed at the space

domain.

The BIP framework for the analysis and validation of real-time software at behaviour

level.

The AIR hypervisor for the simultaneous execution of applications with different

criticality on the same hardware.

The Autoproj build management system.

In addition, a new tool for modelling robot kinematics has been developed within

ESROCOS. This is a first implementation of a methodology for robotics software

development which to the best of our knowledge has not been investigated before. The

methodology advocates the use of automatic code generation, given a high level models

and configuration, together forming a semantically complete specification of the software.

It is expected that the availability of a robotics framework specifically developed for space

systems and available under open-source licenses can achieve sufficient adoption in the

space robotics community, and other domains with similar RAMS requirements, to create

a lively ecosystem of reusable components and tools with many users and contributors.

The experience in terrestrial robotics shows that such an ecosystem may lower the cost

of developing novel robotics systems.

The architecture of ESROCOS provides a path from existing open-source robotics

frameworks, suitable for use at laboratory level, and space-quality software systems. In

addition, an open-source and modular solution facilitates the exploitation of the results

by smaller players and SMEs, which are very important in the European space industry.

The ESROCOS framework has been developed with the H2020 Strategic Research Cluster

(SRC) on Space Robotics. It is one of the building blocks identified by the European space

robotics roadmap, which has defined the objectives and priorities for the next decade.

The project results are also closely aligned with the software engineering methods

promoted by the ESA.

At a wider level, the ESROCOS project has also strived to communicate its goals and

activities to the robotics community at large and to the general public. By providing an

open-source platform to develop space robotics systems starting from the lab, ESROCOS

makes possible new types of robotics applications that may capture the imagination of

the general public. As ESROCOS is open source, it is available for the community to

develop new engaging projects.

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