#  1\. DATA SUMMARY

##  1.1 OBJECTIVE

This document constitutes the first version of the Data Management Plan (D1.4)
of COROMA project, elaborated under Task 1.4 Data management plan for Open
Research Data Pilot of Work Package 1 Requirements definition.

The objective of this deliverable is to give an overview of the data that will
be collected during the runtime of the COROMA project. This document will
define processes how data will be stored, published, and distributed amongst
the consortium partners. COROMA is a large project with many partners which
makes a good data management strategy to share and archive documents
inevitable.

Project partners will collect data in order to ensure that all conducted
experiments are reproducible and to share knowledge between partners within
the project and with other researchers.

A key objective of the COROMA project is to develop the robot into an
autonomous system. Autonomous systems rely more and more on experiences and
collected data therefore data can be used to learn and improve various
cognitive components of the robot as well as for validation of approaches and
reproduction of results.

##  1.2 TYPES AND FORMATS

Several types of data will be produced during the project runtime. These are
for example:

  * Experimental data (e.g. sensor data) 

  

  * Equipment data and environment data (e.g. CAD files) 

  

  * Configuration files for software and hardware 

  

  * Illustrations and videos 

  

  * Documents, e.g. dissemination and communication material (publications, posters, presentations, etc.), deliverables 

  

  * Software 

  

It is important that data is provided in standard formats that are easily
accessible with standard software which should ideally be free of charge to
simplify sharing the data among partners or to the public. Examples of
preferable formats are

  * Documents (e.g. publications, presentations): PDF 

  

  * Illustrations: PDF, SVG 

  

  * Images: high quality, e.g. TIFF, BMP, JPEG 2000 

  

  * CAD: ISO-10303-21 (STEP file) 

  

  * Dummy part data / process related data: SciLab, GNU Octave, CSV 

  

Process related data such as force measurements, distance measurements, etc.
must be provided in

SI.

##  1.3 OVERVIEW

This Data Management Plan will briefly describe the general categories of data
that will be generated during the project and in some cases it will already
define specific details about the data that will be produced in this section.
However, everything is subject to change. This part of the data management
plan will be updated as soon as we know more details and it will form the
basis of deliverable 8.5 “Data Compilation Open Research Report”.  
  
<table>  
<tr>  
<th>

**Partner**

</th>  
<th>

**Data**

</th>  
<th>

**Details in Section**

</th>  
<th>

**Type**

</th>  
<th>

**Shared with**

</th> </tr>  
<tr>  
<td>

ITR

</td>  
<td>

Models of parts

</td>  
<td>

1.3.1

</td>  
<td>

CAD models

</td>  
<td>

Consortium

</td> </tr>  
<tr>  
<td>

ITR

</td>  
<td>

Semantic dataset

</td>  
<td>

1.3.2

</td>  
<td>

Sensor measurements

</td>  
<td>

Public

</td> </tr>  
<tr>  
<td>

SRC

</td>  
<td>

CORO-hand

</td>  
<td>

1.3.3

</td>  
<td>

CAD / simulation

models and metadata

</td>  
<td>

Consortium

</td> </tr>  
<tr>  
<td>

SRC

</td>  
<td>

Experimental Data (SRC)

</td>  
<td>

1.3.4

</td>  
<td>

Sensor measurements

</td>  
<td>

Specific partners

</td> </tr>  
<tr>  
<td>

IDK

</td>  
<td>

Experimental Data (IDK)

</td>  
<td>

1.3.5

</td>  
<td>

Sensor measurements

</td>  
<td>

Public

</td> </tr>  
<tr>  
<td>

BEN

</td>  
<td>

Demonstration data (BEN)

</td>  
<td>

1.3.6

</td>  
<td>

Sensor measurements and metadata

</td>  
<td>

Public

</td> </tr>  
<tr>  
<td>

ACI

</td>  
<td>

Demonstration data (ACI)

</td>  
<td>

1.3.7

</td>  
<td>

Sensor measurements and metadata

</td>  
<td>

Consortium and public (after

approval)

</td> </tr>  
<tr>  
<td>

ENSA

</td>  
<td>

Demonstration data (ENSA)

</td>  
<td>

1.3.8

</td>  
<td>

Sensor measurements and metadata

</td>  
<td>

Consortium or public (after

approval)

</td> </tr>  
<tr>  
<td>

UNA

</td>  
<td>

Experimental data (UNA)

</td>  
<td>

1.3.9

</td>  
<td>

Sensor measurements and metadata

</td>  
<td>

Specific partners

</td> </tr>  
<tr>  
<td>

All

</td>  
<td>

Publications

</td>  
<td>

1.3.10

</td>  
<td>

Documents

</td>  
<td>

Public

</td> </tr>  
<tr>  
<td>

All

</td>  
<td>

Internal documents

</td>  
<td>

1.3.11

</td>  
<td>

Documents

</td>  
<td>

Consortium

</td> </tr>  
<tr>  
<td>

All

</td>  
<td>

Deliverables

</td>  
<td>

1.3.12

</td>  
<td>

Documents

</td>  
<td>

Public or

consortium

</td> </tr>  
<tr>  
<td>

DFKI

</td>  
<td>

Machine learning datasets

</td>  
<td>

1.3.13

</td>  
<td>

Datasets

</td>  
<td>

Unknown

</td> </tr> </table>

###  1.3.1 PART MODELS

**Responsible Partner:** ITR

**Description:** CAD models of products

**Purpose:** Evaluation of visual scanning methods or procedures

**Type / Format:** CAD, STL (Stereo Lithography Interface format)

**Metadata:** \-

**Required Software:** STL files can be opened with e.g. FreeCAD or Blender

**Data Collection:** CAD models will be provided by partners that are involved
in the demonstration **Linked to Publications:** \-

**License / Access:** Shared with the consortium

###  1.3.2 SEMANTIC DATASET

**Responsible Partner:** ITR

**Description:** Dataset for Semantic Segmentation

**Purpose:** Training set for new algorithms, can be used for benchmarking

**Type / Format:** Dataset for machine learning, ROS Bags (ROS logfiles), PCD
(point cloud library document), XML

**Metadata:** \-

**Required Software:** ROS Bags can be opened with the robot operating system
(rosbag, rqt_bag), PCD can be opened with pcd_viewer

**Data Collection:** Dataset will be acquired using 3D sensors in experimental
setups

**Linked to Publications:** \- **License / Access:** Shared publicly

###  1.3.3 CORO-HAND (SRC)

**Responsible Partner:** SRC

**Description:** (1) CAD and simulation data for mechanical parts, schematics
and CAD for electronics, (2) videos, images

**Purpose:** (1) used to prototype, design and verify the design of the CORO-
hand, (2) dissemination and communication activities

**Type / Format:** CAD data: STEP (ISO 10303), simulation models: URDF  1

**Metadata:** \-

**Required Software:** URDF files can be used and visualized with the robot
operating system (ROS), ROS supports multiple operating systems but Ubuntu is
preferred and has several tools to visualize data (e.g. rviz), STEP files can
be opened by any 3D CAD package (e.g. Solidworks, AutoCAD, Blender) **Data
Collection:** SRC designs and provides the CORO-hand models

**Linked to Publications:** \-

**License / Access:** Design files shall not be made publicly available. Any
CAD and simulation models of the CORO-hand that are made available to the
consortium shall be regarded as confidential and may be simplified models
which have been de-featured, e.g. external geometries only.

###  1.3.4 EXPERIMENTAL DATA (SRC)

**Responsible Partner:** SRC

**Description:** (1) Sensor data (joint angles, joint torques, motor
temperature/voltage/current, tactile sensors if they are used), (2) control
data (controller status/commands, driver status/commands)

**Purpose:** Data is used to monitor the health of the CORO-hand, debugging
and performance characterization

**Type / Format:** ROS Bags (ROS logfiles)

**Metadata:** Data shall be associated to which objects are being grasped

**Required Software:** ROS Bags can be used and visualized with the robot
operating system (ROS), ROS supports multiple operating systems but Ubuntu is
preferred and has several tools to visualize data

(e.g. rviz)

**Data Collection:** (1,2) shall be recorded either live from using the CORO-
hand or during simulation **Linked to Publications:** \-

**License / Access:** Sensor data coupled with simulation models might be
useful to consortium members, but shall remain private unless specifically
requested.

###  1.3.5 EXPERIMENTAL DATA (IDK)

**Responsible Partner:** IDK

**Description:** Robot dynamics dataset

**Purpose:** Monitoring of the dynamics of the robot during the machining
process it is involved (as a fixture)

**Type / Format:** Accelerometer signal, time signals and/or FFT signals,
force signal, time signal, Matlab MAT (*.mat) file  2  **Metadata:**

  * Estimated acceleration measurement frequency: 5000 Hz 

  

  * Acceleration unit: m/s² 

  

  * Force unit: Newton 

  

**Required Software:** Matlab files can be opened with Matlab, SciLab, GNU
Octave, etc.

**Data Collection:**

  * Ingesys IC3 real time control system 

  

  * Industrial or laboratory accelerometer 

  

  * Force signal: force sensing plate, robot tool tip 1 or 6 axis force sensor 

  

**Linked to Publications:** Linked to two peer reviewed scientific papers, one
about using the robot as a mobile fixturing system, one about robotic drilling

**License / Access:** Shared publicly

###  1.3.6 DEMONSTRATION DATA (BEN)

**Responsible Partner:** BEN

**Description:** Technical data recorded during the demonstration at the
facilities of BEN and corresponding metadata

**Purpose:** Technical documentation and analysis, reproduction of results in
a paper

**Type / Format:** Video, images (JPEG 2000), logfiles

**Metadata:** \- **Required Software:** \-

**Data Collection:** Data will be logged and recorded during the demonstration

**Linked to Publications:** Linked to a publication about the demonstration

**License / Access:** Shared publicly

###  1.3.7 DEMONSTRATION DATA (ACI)

**Responsible Partner:** ACI

**Description:** Technical data recorded during the demonstration at the
facilities of ACI and corresponding metadata

**Purpose:** Technical documentation and analysis, reproduction of results in
a paper

**Type / Format:** Video, images (JPEG 2000), logfiles

**Metadata:** \- **Required Software:** \-

**Data Collection:** Data will be logged and recorded during the demonstration

**Linked to Publications:** \-

**License / Access:** Data related to the process itself, images, or videos
without produced parts can be shared with the consortium and publicly after
approval. Images and videos of the produced parts are property of the
customers and cannot be shared.

###  1.3.8 DEMONSTRATION DATA (ENSA)

**Responsible Partner:** ENSA

**Description:** Technical data recorded during the demonstration at the
facilities of ENSA and corresponding metadata

**Purpose:** Technical documentation and analysis, reproduction of results in
a paper

**Type / Format:** Video, images (JPEG 2000), logfiles

**Metadata:** \- **Required Software:** \-

**Data Collection:** Data will be logged and recorded during the demonstration

**Linked to Publications:** \-

**License / Access:** Videos or pictures must be recorded by ENSA personnel.
Logged and recorded data must be approved by ENSA and its customers before
released to public. Customer information must not be published at all.

###  1.3.9 EXPERIMENTAL DATA (UNA)

**Responsible Partner:** UNA

**Description:** Experimental data (process monitoring, environment
monitoring), equipment data, and configuration files

**Purpose:** Benchmarking, evaluation of a method or procedure, reproduction
of results in papers

**Type / Format:** Equipment data (part file, path file equipment model file,
environment model file), configuration file (robot position file, process
conditions), videos, images (high quality, e.g. PNG, TIFF, BMP, JPEG 2000),
CAD (STEP file, CATPART, IGS, STL, IFC, …), process related data (SciLab, GNU
Octave, Matlab, Excel, PsiConsole (AGV)), force measurements (CSV)

**Metadata:** \-

**Required Software:**

  * Required licenses: CATIA V5, Matlab, Autodesk / Powermill, MS Word 

  

  * Dependencies: Matlab robotic tool box, Windows 7 

  

**Data Collection:** \-

**Linked to Publications:** Possibly

**License / Access:** Data will be shared according to WP distribution and
limited to collaboration **1.3.10 PUBLICATIONS**

**Responsible Partner:** UNA, IDK, BEN, …

**Description:** Scientific or industrial publications

**Purpose:** Dissemination of project results, making results reproducible

**Type / Format:** Publication, MS Word, LaTeX, PDF

**Metadata:** \-

**Required Software:** MS Word, PDF viewer

**Data Collection:** \- **Linked to Publications:** \-

**License / Access:** Scientific publications must be open access

###  1.3.11 INTERNAL DOCUMENTS

**Responsible Partner:** all

**Description:** Internal documents, confidential documents or temporary
documents

**Purpose:** Documents that are required to communicate among the partners to
achieve the project goals

**Type / Format:** Documents, PDF, DOCX, XLSX, PPTX

**Metadata:** \-

**Required Software:** MS Office, Adobe Acrobat Reader

**Data Collection:** \- **Linked to Publications:** \-

**License / Access:** Shared within the consortium

###  1.3.12 DELIVERABLES

**Responsible Partner:** all

**Description:** Deliverables

**Purpose:** Documentation and planning of the project COROMA

**Type / Format:** PDF

**Metadata:** \-

**Required Software:** PDF viewer

**Data Collection:** \- **Linked to Publications:** \-

**License / Access:** Public or confidential, as defined in the GA (annex 1,
part A, pp 6-10)

###  1.3.13 MACHINE LEARNING DATASETS

**Responsible Partner:** DFKI

**Description:** Datasets that will be preprocessed and used for machine
learning

**Purpose:** Benchmarking, reproduction of results in papers

**Type / Format:** \-

**Metadata:** \- **Required Software:** \-

**Data Collection:** Data will be collected by partners in the project COROMA

**Linked to Publications:** Probably

**License / Access:** Depends on the owner of the original data

#  2\. FAIR DATA

In COROMA, three different kinds of data will be aggregated and shared within
the project:

  1. Public data and documents 

  

  2. Restricted data 

  

  3. Internal documents 

  

  

Task leader DFKI will rely on the platform Zenodo  3  for data that has to be
made publicly available (1) and DFKI will maintain an overview of publicly
shared data and documents at the COROMA website  4  . Note that as COROMA is
an H2020 project, all publications must be open access. For data that will be
shared with a selected audience (e.g. the project consortium), DFKI
_recommends_ to use Zenodo as a platform which supports detailed access
control (2). It enables interested researchers to request access to restricted
data directly from the owner of the data and it allows the owner of the data
to define and revoke access rights per request. For internal documents (3)
such as minutes, confidential deliverables, internal presentations, etc. the
internal project website  5  will be used to share these documents among the
project consortium.

##  2.1 MAKING DATA FINDABLE

Publicly shared data produced in the project COROMA must be findable. Zenodo
provides search functionality which will guarantee that COROMA datasets can be
found. The search functionality will for example allow filtering by keywords
and name of the data repository. Each responsible partner must provide
appropriate keywords during the data publication process. These keywords
should assist people that search for the data at Zenodo. Each upload receives
a digital object identifier (DOI) which will make it easily findable even
though the URL to the dataset might have changed. In addition, we will provide
an overview of publicly available datasets and documents at our project
website.

All partners are encouraged to upload restricted data to Zenodo. Zenodo allows
restricted access for confidential data. Note that the data is still findable
although it is not visible if the access is restricted.

The internal COROMA website provides a section to store documents that have
been produced within the project. It will be used mostly to share confidential
data between partners of the project. Documents will be findable through the
hierarchical directory structure (e.g. ordered by categories like
deliverables, meetings, general information, work packages, etc.). The project
website will be available at least as long as the project COROMA is running.

##  2.2 MAKING DATA OPENLY ACCESSIBLE

Due to the industrial character of the COROMA project and the participation of
industrial partners, not all data generated within COROMA can be made public
according to the Consortium Agreement. However, important scientific data that
can be used to reproduce and validate results must be made openly accessible
and publications must be published open access. The data will be published in
forms that are specified at the beginning of Section 2. The data publication
process is described in Section 2.5.

Only free and standard software _should_ be required to use the data. Specific
formats are described in Section 1 of this document. Some proprietary tools
produce data in formats that can only be used by these tools. These tools must
either be standard tools that are used by experts that are interested in the
data or there must be a way to extract relevant information with free
software. If neither the first of the second case is applied, there is no
reason to release the data. All partners must be aware of these issues and
there must be a good reason to violate these guidelines (e.g. unreasonable
effort to convert a proprietary format).

Access to restricted data will be controlled by the responsible partners.
Zenodo allows searching for restricted datasets and it allows requesting
access to these datasets over the platform. The responsible partner has to
decide on each individual case whether the access will be granted.

##  2.3 MAKING DATA INTEROPERABLE

Data must be interoperable. Each dataset that is released will have sufficient
documentation included that describes the process of reading and using the
data. Sufficient means that professionals will easily be able to make use of
the data. For example, in the case of a publication in PDF format, no further
documentation would be required. The documentation should be plain text or PDF
that describes the required tools and procedures to make use of the data. It
might be required to provide a short example script in a free programming
language that loads and visualizes the data or metadata like information about
the columns of a CSV (e.g. measured quantity, units). The format won’t be
specified any further because the produced datasets and the systems used in
the project are so diverse that further constraints could make the cost of
releasing datasets unreasonably high.

A good example of an interoperable public dataset is the MNIST dataset  6
which has been used in the machine learning community as a benchmark dataset
for more than 15 years. Although the format of the data is very unusual, the
website contains a short and sufficient description of the format which makes
it transferable in almost any programming language. The website explains the
purpose of the dataset, how it is related to other datasets, and it includes a
comparison of various methods that have been evaluated with the dataset.

##  2.4 INCREASE DATA RE-USE

Data and documents have to be published with a corresponding license. The
responsible partner must make several decisions that affect the choice of an
appropriate license, for example:

  * Is commercial use permitted? 

  

  * Is modification permitted?  Is distribution permitted?  Is private use granted? 

  

  * Is redistribution mandatory? 

  

Possible licenses for published data and documents are

  * Creative Commons Attribution 4.0, CC BY 4.0,  _https://creativecommons.org/licenses/by/4.0/_ : 

  

allows copying and redistribution, allows adaption for any purpose, cannot be
revoked by the author, users must give appropriate credit to the author

  * Creative Commons Attribution-ShareAlike 4.0, CC BY-SA 4.0,  _https://creativecommons.org/licenses/by-sa/4.0/_ :  similar to CC BY 4.0 with the additional obligation to distribute adaptions under the same license 

  

  * Creative Commons Attribution-NonCommercial 4.0, CC BY-NC 4.0,  _https://creativecommons.org/licenses/by-nc/4.0/_ :  similar to CC BY 4.0 with the restriction that commercial use is not possible 

  

  * Creative Commons Attribution-NoDerivatives 4.0, CC BY-ND 4.0,  _https://creativecommons.org/licenses/by-nd/4.0/_ :  similar to CC BY 4.0 with the restriction adaptions must not be shared 

  

  * Any other Creative Commons license:  _https://creativecommons.org/licenses/_

  

Other types of licenses are available for software. The choice of license
depends on the specific requirements of the copyright owner. In case software
should be released as open source partners can generally choose between
licenses that allow commercial use (e.g. BSD) and those that do not (e.g. GNU
General Public License, GPL). There are various platforms that help to select
an appropriate license.  7

Public data will be made available as soon as it has been produced and
documented, the corresponding publication has been published, or at the latest
at the end of M36.

DFKI is responsible for checking whether published data is findable,
interoperable, and reusable. The publication process is described in Section
2.5. By relying mostly on standard formats and requiring a documentation for
each published dataset, COROMA consortium will make the data reusable as long
as possible. No further guarantees are given.

##  2.5 DATA PUBLICATION PROCESS

We will briefly describe the process to publish public and restricted data and
documents at the platform Zenodo. The responsible partner will prepare the
data for publication. The preparation includes:

  * Definition of appropriate keywords that make the dataset findable for potential users of the dataset or document 

  

  * Definition of access rights (open access, embargoed access and embargo date, restricted access) 

  

  * Selection of license (see Section 2.4 for details) 

  

  * Description of dataset, must be sufficient for experts in the field to make use of the data and for non-experts to understand for which purpose the data can be used 

  

  * Optional: implementation of an example that loads the data and demonstrates how it can be used, e.g. by visualization 

  

After the preparation, the responsible partner uploads the data and generated
metadata to the COROMA community at the Zenodo platform.  8  DFKI is
responsible for checking whether all of the criteria mentioned above have been
fulfilled and will either contact the responsible partner to complete the
process or directly accept the dataset for the community. After the dataset
has been accepted for the Zenodo community, DFKI will contact IDK to add the
dataset to the COROMA website.

#  3\. ALLOCATION OF RESSOURCES

Collected data will be prepared for publication in T8.3. Datasets that require
documentation and quality assurance are prepared and released by DFKI, IDK,
UOS, UNA, and ITR. Other documents that will be used for communication or
dissemination will be released in T8.1 and T8.2 respectively and usually do
not require much further preparation for release apart from the work that is
required to generate these documents (e.g. articles, posters).

Each partner is responsible for his datasets as described in Section 1\. Each
responsible partner must guarantee that the data is in a format that can be
published, documented so that an expert is able to use the data, and can be
read with free or standard software. The release process is supervised by
DFKI. Details are described in Section 2.5. Each responsible partner must
communicate about the release of public data or dissemination documents with
DFKI. The release of communication documents must be communicated to IDK.

There are no costs for long-term preservation of public data. The platform
Zenodo is free and we cannot give any guarantees beyond the lifetime of Zenodo
and its successors.

#  4\. DATA SECURITY

Publicly shared data is stored at the platform Zenodo. Zenodo guarantees to
retain the data for the lifetime of the platform which is at least 20 years.
Zenodo further guarantees that data is backed up nightly and stored in
multiple online replicas. We rely on the platform’s security in terms of data
recovery, secure storage of restricted data and transfer of sensitive data.

#  5\. SUMMARY

COROMA project partners have completed the data management plan. After
analysing the planned data generating activities and the requirements of each
partner, a plan has been produced to give an overview of these datasets and
give guidelines for data management. In particular DFKI will focus on the
process to make data available to the public and how the datasets have to be
prepared. This data management plan is intended to be a living document that
will be extended during the project and will finally result in the deliverable
8.5 “Data Compilation Open Research Report”.