In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems,... more In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems, in general and HRI sys-tems, in particular. The software as well as the software de-velopment methodology and associated tools are knowledge-based systems. The key challenge is to represent domain knowledge that enables the process and model evolution to built complex software intensive HRI systems. 1
Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same p... more Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same passenger car. Most of these systems are controlled separately using standalone controllers. Several studies show the benefits of coordinating several systems especially in simultaneous operations. However, most of the studies tend to ignore the time-delays that exist in the control loop. This time-delays can destabilize the vehicle in severe situations. This paper provides a solution to face time-delays in the context of integrated ADAS and chassis systems. Results show the benefits of the control logic proposed in terms of stability and performance. This brings one step closer towards standardization of global vehicle motion control.
Standardization, benchmarking, and formalization activities are being undertaken by many technica... more Standardization, benchmarking, and formalization activities are being undertaken by many technical working groups and independent agencies such as, IEEE, ISO, and OMG, to promote Model-Based Software Development in robotics. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. The process of developing software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad-hoc designs that are not flexible and reusable. Therefore, within the context of architecture design, software development, and their supporting tools, a coherent practice is required for developing architecture frameworks. We believe that by making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. In this pa...
The Abstract State Machines have been around for a while, earning their place in the embedded sys... more The Abstract State Machines have been around for a while, earning their place in the embedded system world. Their formal background makes them suited for proofs, their refinement design method eases the system engineering and their apparent simplicity steepens the end user's learning curve. The numerous extensions that followed have adapted the ASMs to most of the real-time system needs. Our aim is to provide a safe, precise and adaptable worst-case execution time (WCET) estimation for processors featuring modern components. The safety property implies that among all the possible processor states, generated by the binary for all possible inputs, the ones that cause the maximal execution time must be considered. However, complex architectural components, designed to speedup the average case, make it impossible to infer local timing decisions to the global systems as the monotony is broken by the timing anomalies. Therefore, a large number of states must be analysed, generating a ...
Motivated from the experience of developing a lidar based vehicle tracking system, a model-based ... more Motivated from the experience of developing a lidar based vehicle tracking system, a model-based approach for specifying the solution space of robotic system is proposed in this paper. Solution space modeling can expand the design space, help finding the best possible solution, identify variation points, and also permit to perform context based run-time adaptation of the system. Models based on the proposed Solution Space Modeling Language (SSML) can help in system level reasoning, making tradeoffs, documenting decisions, and comparing them based on functional and non-functional properties, and can act as an artifact for formally proving and validating the final implementation.
Detecting functional errors on generic hardware components is often a complex task. This task bec... more Detecting functional errors on generic hardware components is often a complex task. This task becomes more complex in a componentwise approach when analyzing components without their embedded context that is the entire system description. In this paper, we propose a methodology that successfully detects just from the component's description a pure functional error that neither extensive tests nor formal methods could find.
Hard real time systems are evolving in order to respond to the increasing demand in complex funct... more Hard real time systems are evolving in order to respond to the increasing demand in complex functionalities while taking advantage of newer hardware. Software development for safety critical systems has to comply with strict requirements that will facilitate the certification process. During this process, each part of the system is evaluated, requiring a certain level of assurance in order to provide confidence in the product. In particular there must be a level of confidence that the system behaves deterministically that may be based on functionality, resources and time. The success of system verification depends greatly on the capacity to determine its exact behavior. Nonetheless, hardware evolved in order to maximize the average computation power throughput with little to no regard to the deterministic aspect. Therefore modern architectural features of processors, like pipelines, cache memories and co-processors, make it hard to verify that all the needed properties are respected...
2020 AIAA/IEEE 39th Digital Avionics Systems Conference (DASC)
With the rise of artificial intelligence, it is time to shape the systems engineering tooling env... more With the rise of artificial intelligence, it is time to shape the systems engineering tooling environment for the future. In the last decade, we have seen several emerging technologies that will potentially have a great impact in complex systems. These new technologies are expected to cause a disruptive impact not only in the products but also in to the tools used across the whole product life cycle. For this reason, is imperative to perform a critical review of the current systems engineering tooling ecosystem. This assessment should also map the open research problems that could prevent the complete integration of the new technologies into the systems engineering framework. This paper proposes a new architecture for a system engineering environment to operate in large scale projects. The objective of this research is twofold: it will first identify the capabilities for the next generation platform, and secondly, it will evaluate how artificial intelligence applications can be integrated in compliance with DO-330. The concept developed by this research will drive tool design recommendations enabling the use of artificial intelligence driven applications in a systems engineering tooling ecosystem.
2021 IEEE International Systems Conference (SysCon)
The use of artificial intelligence capabilities for developing airborne safety-critical systems h... more The use of artificial intelligence capabilities for developing airborne safety-critical systems has been troublesome to the aerospace industry. This technology inserts new sources of non-determinism on process execution, increasing difficulty to ensure safety requirements. In this work, we evaluate the artificial intelligence capabilities for improving systems engineering methodology. From this analysis, we present design strategies to support the tool qualification process. The design strategies are a sound basis for applying artificial intelligence into the tools employed during the whole airborne systems life cycle.
In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems,... more In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems, in general and HRI sys-tems, in particular. The software as well as the software de-velopment methodology and associated tools are knowledge-based systems. The key challenge is to represent domain knowledge that enables the process and model evolution to built complex software intensive HRI systems. 1
Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same p... more Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same passenger car. Most of these systems are controlled separately using standalone controllers. Several studies show the benefits of coordinating several systems especially in simultaneous operations. However, most of the studies tend to ignore the time-delays that exist in the control loop. This time-delays can destabilize the vehicle in severe situations. This paper provides a solution to face time-delays in the context of integrated ADAS and chassis systems. Results show the benefits of the control logic proposed in terms of stability and performance. This brings one step closer towards standardization of global vehicle motion control.
Standardization, benchmarking, and formalization activities are being undertaken by many technica... more Standardization, benchmarking, and formalization activities are being undertaken by many technical working groups and independent agencies such as, IEEE, ISO, and OMG, to promote Model-Based Software Development in robotics. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. The process of developing software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad-hoc designs that are not flexible and reusable. Therefore, within the context of architecture design, software development, and their supporting tools, a coherent practice is required for developing architecture frameworks. We believe that by making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. In this pa...
The Abstract State Machines have been around for a while, earning their place in the embedded sys... more The Abstract State Machines have been around for a while, earning their place in the embedded system world. Their formal background makes them suited for proofs, their refinement design method eases the system engineering and their apparent simplicity steepens the end user's learning curve. The numerous extensions that followed have adapted the ASMs to most of the real-time system needs. Our aim is to provide a safe, precise and adaptable worst-case execution time (WCET) estimation for processors featuring modern components. The safety property implies that among all the possible processor states, generated by the binary for all possible inputs, the ones that cause the maximal execution time must be considered. However, complex architectural components, designed to speedup the average case, make it impossible to infer local timing decisions to the global systems as the monotony is broken by the timing anomalies. Therefore, a large number of states must be analysed, generating a ...
Motivated from the experience of developing a lidar based vehicle tracking system, a model-based ... more Motivated from the experience of developing a lidar based vehicle tracking system, a model-based approach for specifying the solution space of robotic system is proposed in this paper. Solution space modeling can expand the design space, help finding the best possible solution, identify variation points, and also permit to perform context based run-time adaptation of the system. Models based on the proposed Solution Space Modeling Language (SSML) can help in system level reasoning, making tradeoffs, documenting decisions, and comparing them based on functional and non-functional properties, and can act as an artifact for formally proving and validating the final implementation.
Detecting functional errors on generic hardware components is often a complex task. This task bec... more Detecting functional errors on generic hardware components is often a complex task. This task becomes more complex in a componentwise approach when analyzing components without their embedded context that is the entire system description. In this paper, we propose a methodology that successfully detects just from the component's description a pure functional error that neither extensive tests nor formal methods could find.
Hard real time systems are evolving in order to respond to the increasing demand in complex funct... more Hard real time systems are evolving in order to respond to the increasing demand in complex functionalities while taking advantage of newer hardware. Software development for safety critical systems has to comply with strict requirements that will facilitate the certification process. During this process, each part of the system is evaluated, requiring a certain level of assurance in order to provide confidence in the product. In particular there must be a level of confidence that the system behaves deterministically that may be based on functionality, resources and time. The success of system verification depends greatly on the capacity to determine its exact behavior. Nonetheless, hardware evolved in order to maximize the average computation power throughput with little to no regard to the deterministic aspect. Therefore modern architectural features of processors, like pipelines, cache memories and co-processors, make it hard to verify that all the needed properties are respected...
2020 AIAA/IEEE 39th Digital Avionics Systems Conference (DASC)
With the rise of artificial intelligence, it is time to shape the systems engineering tooling env... more With the rise of artificial intelligence, it is time to shape the systems engineering tooling environment for the future. In the last decade, we have seen several emerging technologies that will potentially have a great impact in complex systems. These new technologies are expected to cause a disruptive impact not only in the products but also in to the tools used across the whole product life cycle. For this reason, is imperative to perform a critical review of the current systems engineering tooling ecosystem. This assessment should also map the open research problems that could prevent the complete integration of the new technologies into the systems engineering framework. This paper proposes a new architecture for a system engineering environment to operate in large scale projects. The objective of this research is twofold: it will first identify the capabilities for the next generation platform, and secondly, it will evaluate how artificial intelligence applications can be integrated in compliance with DO-330. The concept developed by this research will drive tool design recommendations enabling the use of artificial intelligence driven applications in a systems engineering tooling ecosystem.
2021 IEEE International Systems Conference (SysCon)
The use of artificial intelligence capabilities for developing airborne safety-critical systems h... more The use of artificial intelligence capabilities for developing airborne safety-critical systems has been troublesome to the aerospace industry. This technology inserts new sources of non-determinism on process execution, increasing difficulty to ensure safety requirements. In this work, we evaluate the artificial intelligence capabilities for improving systems engineering methodology. From this analysis, we present design strategies to support the tool qualification process. The design strategies are a sound basis for applying artificial intelligence into the tools employed during the whole airborne systems life cycle.
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Papers by Bruno Monsuez