Papyrus is an industrial-grade open source Model-Based Engineering tool. It is based on standards and supports Model-Based Design in UML, SysML, MARTE, fUML, PSCS/SM, FMI 2.0 and many more. Papyrus has been used successfully in industrial projects and is the base platform for several industrial modeling tools—read more about Papyrus Use Case Stories.

To address the robotics domain according to the RobMoSys methodology and structures, a set of Papyrus-based domain specific modeling languages (DSMLs) and tools are being collected under the Papyrus for Robotics umbrella.

• Papyrus for Robotics Website — It contains a download link for a RCP (Rich Client Platform, i.e. a ready-to-use Eclipse Installation) with Papyrus for Robotics installed, as well as an update-site for use in existing Eclipse installations (either 2018-09 or 2018-12). Use the “Check for updates” action to automatically get updates in the future.
• Getting Started Guide

Papyrus for Robotics uses UML/SysML as underlying realization technology. The platform uses the UML profile mechanism to enable the implementation of DSMLs that assist RobMoSys' ecosystem users in designing robotics systems.

Papyrus for Robotics features a modeling front-end which conforms to RobMoSys' foundational principles of separation of roles and concerns. It provides custom architecture view points, diagram notations and property views, including (but not limited to) those for the definition of software components, services, the representation of the system's architecture, and coordination and configuration policies.

Below's a list of additional capabilities — already available or for which the integration in Papyrus for Robotics is currently on-going.

• Safety Analysis (available). Papyrus for Robotics features a safety module to perform dysfunctional analysis on system architecture's components, including (but not limited to) Failure Mode and Effects Analysis (FMEA) and Fault Tree Analysis (FTA). Model-based safety analysis is enabled by a dedicated DSML, modeling views and a set of analysis and report generation modules.

• Performance Analysis (integration on-going). Papyrus for Robotics supports the Architectural Pattern for Stepwise Management of Extra-Functional Properties, with a focus on the timing properties of software component architectures. Concretely, it enables the analysis of end-to-end response times and resource utilization of component compositions by leveraging concepts in Compositional Performance Analysis (CPA), such as paths and cause-effect chains.

• Code-Generation (integration on-going). Papyrus for Robotics includes generators that transform models of software component architectures, platform descriptions and deployment specifications into code. The eITUS Integrated Technical Project (ITP) uses the Papyrus for Robotics code-generation capabilities to target Orocos-RTT and Gazebo to enable early safety assessment of robotics systems using fault injection simulations.

• RobMoSys Use Cases
  • Safety Assessment of Robotics Systems Using Fault Injection in RobMoSys (eITUS ITP) | Video
  • Papyrus for Robotics Overview and Safety Analysis Example @ The RobMoSys Tutorial (MODELS 2018 conference in Copenhagen)
  • Component Algorithm Development using Fast Transition between System Definition and Simulation Models (Simulink)
• More videos on Papyrus Companions