1. Group 4 Anders Linseth Magdalena Lipska Nicolai Friis Tobias Melcher
Robot Project
Group 4
Anders Linseth
Magdalena Lipska
Nicolai Friis
Tobias Melcher

2. Project problems Development of a robot controller:
Creating a requirement specification.
Designing an architecture.
Evaluation (ATAM).
Implementing and testing.
Quality attributes in focus:
Performance
Availability

3. Availability Fault detection Fault recovery Fault prevention
Exception handling will ensure that the system keeps running.
Fault recovery
Passive redundancy.
Checkpoint/rollback.
Fault prevention
Process monitor. When a fault is detected the monitoring process shall delete the nonperforming process and create a new instance of it.

4. Performance Resource demand Resource management Resource Arbitration
Increase computational efficiency. By implementing efficient algorithms in critical areas latency can be reduced.
Bound sensor information queue sizes depending on speed.
Resource management
Introduce concurrency. Threads should be implemented to enable concurrency whereever this is possible.
Resource Arbitration
Priority scheduling of accessing sensor information.

5. Architectural pattern
Control loop

6. Logical view Controller User Feedback and Fault reporting
Movement Control
Sensor Input

7. Process view
Robot Control
Fault Prevention
Sensor Interpreter

8. Demonstration
And now some action…

9. Experiences Importance of doing exhaustive work in early phases.
Learnt to design an architecture with focus on certain quality attributes.
ATAM, how not to do it…
How hard and time consuming it is to implement a robot controller.

10. Findings / achievements
The ATAM process can be a useful evaluation method if implemented correctly.
Managed to partly implement the architecture.

11. Conclusion
In a small project like this it is difficult to see the effect of a well designed architecture.
ATAM – too big for a small project.
Architecture is ”easy”, implementation is ”difficult”.