Robotic System Configuration Files for Runtime Orchestration
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Solution Overview
Problem
Configuring robotic systems for complex behaviors is a time-consuming task typically requiring advanced programming skills, and existing systems like ROS are not optimized for large-scale deployment or industrial automation scenarios, lacking real-time capabilities and cross-platform compatibility.
Innovation Solution
A configuration file system that provides unique and immutable path information for executables, data exchange protocols, and runtime orchestration, enabling efficient assembly of non-deterministic behaviors using containerized executables, allowing for flexible and secure deployment across various robotic systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional ROS-based configuration methods are used, then robotic systems can perform complex behaviors, but the configuration process becomes time-consuming and requires advanced programming skills
Solution Approach 1:
The patent uses template-based configuration files that replicate proven robotic system setups. Instead of programming complex behaviors from scratch, users can copy and adapt pre-defined configuration templates that encapsulate sensor configurations, actuator settings, and control logic, dramatically reducing the time and expertise required for system configuration
Solution Approach 2:
The patent introduces a configuration file as an intermediary layer between the user and the robotic system's complex software architecture. This configuration file serves as a mediator that translates high-level behavioral requirements into detailed system settings, shielding users from the underlying complexity while enabling sophisticated robot behaviors
2Adaptability or versatility
If ROS is used for robotic system configuration, then heterogeneous hardware can be integrated, but the system lacks real-time capabilities and is not optimized for industrial deployment
Solution Approach 1:
The patent modifies key parameters of the ROS architecture by introducing fixed time-step simulation, deterministic execution modes, and optimized message passing intervals through configuration files. These parameter changes transform ROS from an academic research platform into a system capable of meeting industrial real-time requirements while maintaining hardware integration flexibility
Solution Approach 2:
The patent enables dynamic adjustment of system parameters at runtime through the configuration file system, allowing the robotic system to adapt its operational characteristics (such as control frequencies, message rates, and execution priorities) to meet real-time requirements while maintaining compatibility with diverse hardware configurations
3Productivity
If complex control programs are written for robotic systems, then specific tasks can be performed, but the configuration process becomes costly and time-consuming
Solution Approach 1:
The patent performs preliminary configuration work by pre-defining sensor models, actuator parameters, control algorithms, and task workflows in configuration files before actual robot deployment. This advance preparation eliminates the need for time-consuming on-site programming and debugging, allowing rapid deployment of complex robotic systems across multiple installations
Solution Approach 2:
The patent creates universal configuration templates that can be applied across different robotic systems and task variations. A single configuration file structure can accommodate multiple sensors, actuators, and task types, allowing the same configuration framework to serve diverse applications without requiring custom programming for each specific task
4Extent of automation
If ROS processes are run in Linux environments, then robotic systems can operate autonomously, but cross-platform compatibility is limited
Solution Approach 1:
The patent designs a platform-independent configuration file format that abstracts away operating system-specific details. The configuration files use universal syntax and data structures that can be parsed and executed on different operating systems (Windows, macOS, Linux), enabling autonomous robotic operation across multiple platforms while maintaining consistent behavior
Data Source
AI summary
The present invention relates to a computer-implemented method for generating a configuration file for program code assembly and runtime process orchestration of a computer program defining a non-deterministic and adaptive behavior of a robotic system, the method comprising: obtaining, by a compute node, unique and immutable path information for a set of executables, wherein each executable comprises program code defining a functional element of the non-deterministic and adaptive behavior; obtaining, by the compute node, data exchange protocol configurations for the set of executables; obtaining, by the compute node, runtime process orchestration information specifying at least one processing relationship for the set of executables; and generating, by the compute node, the configuration file using the obtained unique and immutable path information for the set of executables, the data exchange protocol configurations for the set of executables and the runtime process orchestration information for the set of executables. Further aspects relate to a method for operating a robotic system and to a computer-implemented method for generating a model representing the behavior of a robotic system.