Spoofax is a language workbench for efficient, agile development of textual domain-specific languages with state-of-the-art IDE support. Spoofax integrates language processing techniques for parser generation, meta-programming, and IDE development into a single environment. It uses concise, declarative specifications for languages and IDE services. In this paper we describe the architecture of Spoofax and introduce idioms for high-level specifications of language semantics using rewrite rules, showing how analyses can be reused for transformations, code generation, and editor services such as error marking, reference resolving, and content completion. The implementation of these services is supported by language-parametric editor service classes that can be dynamically loaded by the Eclipse IDE, allowing new languages to be developed and used side-by-side in the same Eclipse environment. Preprint accepted for publication in Proceedings of the 25th Annual ACM SIGPLAN Conference on Object-Oriented Programming, Systems, Languages, and Applications (OOPSLA 2010), Portland (USA), 20-24 Oct. 2010.

/pdf/the-spoofax-language-workbench-rules-for-declarative-4jf6bzym6x.pdf

The Spoofax language workbench rules for declarative specification of languages and IDEs

• A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers.

Petri nets for modeling robots

Even though model-driven engineering reduces complexity during the development of self-adaptive systems and models@run.time enables using them during runtime, connecting models to different external systems still involves manual work. Those connections are essential to the complete system, as they enable external systems to react to changes in the internal model and vice versa. In our case, the model is based on Relational Reference Attribute Grammars, an extension of Attribute Grammars to enable conceptual models at runtime while retaining their benefits of modular specification and an incremental evaluation scheme. We present an approach to enable concise specification of the causal connection and needed transformations to match required formats or semantics. To show its applicability, a case study showing the coordination of multiple industrial robot arms using models is presented. We show that using our approach, connections can be specified more concisely while maintaining the same efficiency as hand-written code. The artefact comprising all source code and an executable version of the case studies is available at https://doi.org/10.5281/zenodo.7009758.

Incremental causal connection for self-adaptive systems based on relational reference attribute grammars

There are several changes when describing the behavior of cyber-physical systems, especially if they act in a complex environment. First, the description should be easily comprehensible to avoid unwanted and unexpected behavior. Second, both the description of the behavior and the description and analysis of the context should be expressive enough to allow complex behavior. Motion grammars have previously been presented as a means to describe high-and low-level behavior of a reactive cyber-physical system. This work proposes Reference Attribute Grammars not only to implement and extend the concept of motion grammars but also to describe and analyze the context. This demonstrator shows how the resulting concept of reference attribute motion grammars is used to control a pick-and-place task while reacting to a changing environment.

Specifying Reactive Robotic Applications With Reference Attribute Motion Grammars

There are several changes when describing the behavior of cyber-physical systems, especially if they act in a complex environment. First, the description should be easily comprehensible to avoid unwanted and unexpected behavior. Second, both the description of the behavior and the description and analysis of the context should be expressive enough to allow complex behavior. Motion grammars have previously been presented as a means to describe high-and low-level behavior of a reactive cyber-physical system. This work proposes Reference Attribute Grammars not only to implement and extend the concept of motion grammars but also to describe and analyze the context. This demonstrator shows how the resulting concept of reference attribute motion grammars is used to control a pick-and-place task while reacting to a changing environment. 

Model-driven engineering can be used to create problem-specific, conceptual models abstracting away unwanted details. Models at runtime take this principle to the time a system is running. Connecting and synchronizing multiple models creates several problems. Usually, models used at runtime must communicate with other systems over the network, they are often based on different paradigms, and in most settings a fast and reactive behaviour is required. We aim for a structured way to define and organize such connections in order to minimize development cost, network usage and computation effort while maximizing interoperability. In order to achieve those goals, we present an extension of the paradigm of models based on reference attribute grammars by creating a dedicated problem-specific language for those connections. We show how to connect several runtime models to a robotic system in order to control this robot and to provide guarantees for safe coexistence with nearby humans. We show, that using our approach, connections can be specified more concisely while maintaining the same efficiency as hand-written code.

Connecting conceptual models using relational reference attribute grammars

The development of industrial robots has greatly advanced over the last 20 years, with the focus on human–robot collaboration, mobility and, especially, the effectiveness of automation. Indeed, recent robotic technologies are capable of an advanced level of manipulation tasks, learning skills, and protecting their user so that they can be used as robotic coworkers (tactile robots or tactile cobots). Developing software for these novel tactile cobots is very different from the time-consuming approaches of earlier systems. Our chapter first addresses the software engineering of distributed industrial cobotic applications with Human-in-the-Loop (human–robotic co-habitation), targeting distributed architectures of cobotic cells with several, also remote cobots. Then, we discuss the development of tactile robotic platforms suitable for collaborative scenarios with novel anthropomorphic robotic hand–arm systems, for which very intuitive and efficient programming schemes, such as fully immersive remote control can be employed, where a human user directly guides the tactile robot and teaches the intended motions and skills. Finally, we present the high-level synthesis of efficient low-power cobotic hardware-software components with real-time capabilities. Specifically, we consider remote manipulation and tactile sensing applications for novel industrial use cases. As a full vision, we discuss robotic telepresence (robotic immersion) with avatar stations, a technique enabling remote workers to interact with the cobotic cell via an avatar.

Human–robot cohabitation in industry

The advance in the development of industrial robots has accelerated significantly in recent years. One of the driving forces behind this is collaboration between humans and robots in shared working areas, resulting in increased productivity and thus reduced cost. Unfortunately, the development of software for collaborating robots is a complex, time-intensive, and demanding task. This is because robotic technology changes fast and knowledge is hard to make available for reuse. Hence, a model-driven approach is necessary to facilitate the development of software for collaborating robots. This work will introduce such a model-driven approach based on hybrid Petri nets, as a formal technique for modeling the various aspects of robotic software. Therefore, specific challenges of employing Petri net based models are discussed, focusing on the management, usage and adaptation of the different models required for applications of collaborating robots. Building on that, a model-driven architecture is proposed, which solves the identified challenges of application development for collaborating robots.

A model-driven approach for cobotic cells based on Petri nets

The ability to collaboratively edit data in distributed environments is essential in our information-based industry. Typically users or systems concurrently access and modify data from different locations for different purposes. Each purpose might require its own representation and subset of the shared data (i.e., a model), for the editor to be productive. Consequently, a multi-model system results, which requires multi-directional synchronization. Although some approaches exist to realize such systems, none of these supports concurrent modifications. To overcome this limitation, we extend previous work on role-oriented model synchronization with a novel conflict detection and resolution approach. Role-oriented programming has been shown to be an adequate paradigm to realize multi-model systems, as it offers separation of concerns at the level of object collaborations and allows to express context-dependent behavior. We evaluate our approach using an employee data management case study and assess the introduced performance overhead.

https://dl.acm.org/doi/pdf/10.1145/3464970.3468412

Resolving synchronization conflicts in role-based multimodel-synchronization environments

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Connecting conceptual models using relational reference attribute grammars

Human–robot cohabitation in industry

A model-driven approach for cobotic cells based on Petri nets

Resolving synchronization conflicts in role-based multimodel-synchronization environments