Towards Real-Time Capable Simulations with a Containerized Simulation Environment

Hinze, Christoph; Tasci, Timur; Lechler, Armin; Verl, Alexander

doi:10.1109/m2vip.2018.8600827

Cited by 5 publications

(2 citation statements)

References 19 publications

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“…The authors of (Hinze et al 2018) propose a method for running FMUs inside Docker containers by placing the entire FMU archive inside the container and extending the master algorithm with a remote procedure call protocol. A distinction between their work and our approach is that FMUs generated using UniFMU work with any FMIenabled master algorithm without the need to implement any additional protocols.…”

Section: Co-simulation Toolsmentioning

confidence: 99%

Portable runtime environments for Python-based FMUs: Adding Docker support to UniFMU

Schranz¹,

Legaard²,

Tola³

et al. 2021

Linköping Electronic Conference Proceedings

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Co-simulation is a means to combine and leverage the strengths of different modeling tools, environments and formalisms and has been applied successfully in various domains. The Functional Mock-Up Interface (FMI) is the most commonly used standard for co-simulation. In this paper we extend UniFMU, a tool that allows users to build Functional Mock-Up Units (FMUs) in virtually any programming language, to support execution within Docker. As a result the generated FMUs can be distributed in an environment containing all runtime dependencies. To describe the process of creating Dockerized FMUs using UniFMU, we show how to model and co-simulate a robotic arm and a controller using two Python-based FMUs.

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Section: Co-simulation Toolsmentioning

confidence: 99%

Portable runtime environments for Python-based FMUs: Adding Docker support to UniFMU

Schranz¹,

Legaard²,

Tola³

et al. 2021

Linköping Electronic Conference Proceedings

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show abstract

“…Within robotics, virtualisation has been pioneered by several authors. In Fres et al ( Fres and Alonso, 2010 ) a virtual machine is used to encapsulate the controller for a mobile robot using a novel programming language, while ( Hinze et al, 2018 ) employs containers to run multiform grasping simulations with real-time control requirements. The limitation of these approaches is that the proposed systems are not designed to support a complex robotic architecture, as virtualisation is not used at its full power.…”

Section: Introductionmentioning

confidence: 99%

A containerised approach for multiform robotic applications

Cotugno,

Rodrigues,

Deacon

et al. 2024

Front. Robot. AI

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As the area of robotics achieves promising results, there is an increasing need to scale robotic software architectures towards real-world domains. Traditionally, robotic architectures are integrated using common frameworks, such as ROS. Therefore, systems with a uniform structure are produced, making it difficult to integrate third party contributions. Virtualisation technologies can simplify the problem, but their use is uncommon in robotics and general integration procedures are still missing. This paper proposes and evaluates a containerised approach for designing and integrating multiform robotic architectures. Our approach aims at augmenting preexisting architectures by including third party contributions. The integration complexity and computational performance of our approach is benchmarked on the EU H2020 SecondHands robotic architecture. Results demonstrate that our approach grants simplicity and flexibility of setup when compared to a non-virtualised version. The computational overhead of using our approach is negligible as resources were optimally exploited.

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Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice

Wnuk

Jaensch

Tomzik

et al. 2020

Mechatronics and Machine Vision in Practice 4

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Towards Real-Time Capable Simulations with a Containerized Simulation Environment

Cited by 5 publications

References 19 publications

Portable runtime environments for Python-based FMUs: Adding Docker support to UniFMU

Portable runtime environments for Python-based FMUs: Adding Docker support to UniFMU

A containerised approach for multiform robotic applications

Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice

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