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

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

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

4. Demo Video 4

5. Layered Architecture 5

6. Approach o Layered Architecture o Component-based Approach o Meta-level Components vs. Application Components o Meta-level Component Types Collector, Analyzer, Admin o Meta-level Component Layering o Meta-level components form a control loop on the lower level architecture o Implementation Support for Meta-level component types and layers 6

7. Approach Advantages o Architectural Awareness Architectural awareness of components in the layer below o Self-adaptation support for meta-level component types o Self-adaptation support for qualities of service o Support for Adaptive Reference Architectures 7

8. Meta-Level Components Meta-Level Components Types o Collector o Analyzer o Admin 8

9. Collector o Read access to lower architecture o A collection of Monitors added to the Components and Connectors in the lower layer exceptions, variables and events o Collector aggregates the monitored data o Flexibility of monitor installation 9

10. Analyzer o Read access to lower architecture o A collection of Policies o Policies are evaluated against monitored data received from Collectors o Triggers adaptations and reconfigurations o Directs Admins to modify the lower architecture 10

11. Admin o Read\Write access to lower architecture o Adapts the lower architecture Add, delete, connect, disconnect o Reconfigures the lower architecture components, connectors and etc. 11

12. Layered Architecture 12

13. Fault Tolerance Example 13

14. Distributed Control Loops A component can be monitored by several Collectors An analyzer can be fed from collectors in other hosts An Analyzer can instruct Admin in other hosts 14

15. Implementation Support 15

16. Implementation Support – Prism-MW 16 Meta-level component type adaptation Robotics-specific meta- level component types Meta-level Component

17. Policy-Based Approach to Architectural Adaptation Management (PBAAM) 17

18. Application to PBAAM 18

19. Three Layer Reference Model 19

20. Application to Three Layer Reference Model 20

21. Application Scenario 21

22. Conclusion o Meta-level component types and layering Support for qualities of service Ensures correct functionality and system stability Implementation support for meta-level component types and layers Support for adaptive reference architectures 22