using sysml in an rtc-based robotics application
DESCRIPTION
My presentation on 12/8, 2012, at OMG Robotics MeetingTRANSCRIPT
![Page 1: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/1.jpg)
SysMLを使ったRTCベースのロボットアプリケーション開発 :
事例ケースタディとデモ
平鍋健児(Change Vision, Inc)
安藤慶昭(産総研)
![Page 2: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/2.jpg)
Agenda
•導入
•背景と目的
•例題
•分析と設計(デモ)
•結論
•将来へのアイディア
![Page 3: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/3.jpg)
自己紹介
• 平鍋健児, 株式会社チェンジビジョン
• Astah(UMLエディタ)の開発
• Astah/SysML
–現在開発中(プロトタイプ)
– 「使いやすさ」と「Web共有」に焦点
• RTC plug-in
– Astah/SysMLのプラグイン。RTC仕様のRTC.xmlを生成。OpenRTMへ。
![Page 4: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/4.jpg)
プロジェクトメンバー
Honda R&D Team
安藤慶昭
平鍋健児
岩永寿来
岡村敏弘
関谷眞
原功
鳥井豊隆
SysML to RTC1 2 OpenRTM to Honda RTM
Geoffrey Biggs
![Page 5: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/5.jpg)
背景と目的
• 簡単な例題を使って、SysMLがコンポーネントベース(RTC)のロボットアプリケーションの有
効性を評価する。
• 1つの共通モデルが、複数のRTM実装で動作
することを実証実験。– OpenRTM-aist
– Honda R&D RTM
SysML to RTC1
2 OpenRTM to Honda RTM
![Page 6: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/6.jpg)
�自律ロボットを遠隔操作し、2つの動き (Spiral と Back-and-
Forth) をさせる。Operatorは自律
モードとデモモード切り替えることができる。�ハードウェアアーキテクチャはあらかじめ決まっている。PCを乗せたRoombaを、Wi-Fi通信で、Kinectを使ってモードスイッチする。
問題記述
kinect
OperatorController PC
Receiver PC
Roomba
Wi-Fi
![Page 7: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/7.jpg)
System architecture
RoombaRoomba
Receiver PC for OpenRTMReceiver PC for OpenRTM
OpenRTM RuntimeOpenRTM Runtime
Robot RTC (OpenRTM-aist)Robot RTC (OpenRTM-aist)
libRoombalibRoomba
Roomba SCI (Serial Control Interface)Roomba SCI (Serial Control Interface)
Receiver PC for Honda R&D RTMReceiver PC for Honda R&D RTM
Honda R&D RTM RuntimeHonda R&D RTM Runtime
Robot RTC (Honda R&D RTM)Robot RTC (Honda R&D RTM)
libRoombalibRoomba
RoombaRoomba
Roomba SCI (Serial Control Interface)Roomba SCI (Serial Control Interface)
Controller PCController PC
KinectKinect
Kinect SDKKinect SDK
OpenRTM RuntimeOpenRTM Runtime
Kinect input RTC (OpenRTM-aist)Kinect input RTC (OpenRTM-aist)
Honda R&D RTM RuntimeHonda R&D RTM Runtime
Controller RTC (Honda R&D RTM)Controller RTC (Honda R&D RTM)
RTC connector Serial Bus (USB/RS232C)Software I/F
![Page 8: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/8.jpg)
OMG RTC Family
8
Name Vendor Feature
OpenRTM-aist AIST C++, Python, Java
OpenRTM.NET SEC .NET(C#,VB,C++/CLI, F#, etc..)
miniRTC, microRTC SEC RTC implementation for CAN・ZigBee based systems
Dependable RTM SEC/AIST Functional safety standard (IEC61508) capable
RTM implementation
RTC CANOpen SIT, CiA Standard for RTC mapping to CANOpen by CiA
(Can in automation) and implementation by SIT
PALRO Fuji Soft C++ PSM implementation for small humanoid robot
OPRoS ETRI Developed by Korean national project
GostaiRTC GOSTAI, THALES C++ PSM implementation on URBI
Honda R&D RTM Honda R&D C++, Python. FSM Component.
![Page 9: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/9.jpg)
AnalysisAnalysis DesignDesign
ImplementationImplementationastah SysMLastah SysML
ImplementationImplementation
Process overview
RTC PluginRTC Plugin
Component
spec.
Component
spec.
RTC.xmlRTC.xml
RTS.xmlRTS.xml
SysML
requirements
SysML
requirements
SysML
Requirements
SysML
Requirements
SysML
Use cases
SysML
Use cases
SysML
Use cases
SysML
Use cases
Honda R&D RTMHonda R&D RTM
OpenRTM-aistOpenRTM-aistSysML
Component
(block)
SysML
Component
(block)↑↑↑↑↑↑↑↑↑↑↑↑
SysML
Components
(Block)
SysML
Components
(Block)←←←←←←←←←←←←
RTC source
codes
(Skelton )
RTC source
codes
(Skelton )
Executable RTCExecutable RTC
RTC source
codes
(Skelton )
RTC source
codes
(Skelton )
SysML
requirements
SysML
requirements
SysML
Context
(Block)
SysML
Context
(Block)
FSMFSM
astah RTM
SysML
STMs
SysML
STMs
Executable RTCExecutable RTC
RTCBuilder
RTSystemEditor
SysML
Component
(block)
SysML
Component
(block)
RTCsRTCs
SysML
Component
(block)
SysML
Component
(block)
RTCsRTCsFSMFSMRTC FSMsRTC FSMs
Restore connectors
SysML to RTC1 2 OpenRTM to Honda RTM
![Page 10: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/10.jpg)
分析と設計(Astahモデル)
![Page 11: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/11.jpg)
Overview
![Page 12: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/12.jpg)
req [コア要求(問題文)]
![Page 13: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/13.jpg)
req [派生要求]
![Page 14: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/14.jpg)
req [Robotへの要求]
![Page 15: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/15.jpg)
req [Controllerへ要求]
![Page 16: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/16.jpg)
uc [デモユースケース]
![Page 17: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/17.jpg)
bdd [コンテキスト図]
![Page 18: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/18.jpg)
bdd [システム概要]
![Page 19: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/19.jpg)
ibd [デモシステム]
![Page 20: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/20.jpg)
ibd [robot物理構造]
![Page 21: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/21.jpg)
ibd [controller物理構造]
![Page 22: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/22.jpg)
stm [controller状態遷移]
![Page 23: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/23.jpg)
結論
• SysMLの“Block”が、RT-Componentにうまくマッピングする。
• <<Satisfy>> 関係を「要求」と「コンポーネント」の間に引くことで、コンポーネントの実装意図を理論的に表現できた。
• 使い勝手のよいツール(Astah/SysML)がモデリングの有効性を加速する。
• 地理的に分散したチームが、Web-baseのツール(Astah/share)でモデル共有し、コミュニケーション、レビューできた。
![Page 24: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/24.jpg)
将来へのアイディア
• リアルタイム性(時間概念)をモデルに表現する。
• Safety Case/D-Case の安全性論証モデルを、SysMLのモデルと融合させる。
• トレーサビリティ、インパクト分析を要求とコンポーネントの間(双方向)でツールに実装する。
![Page 25: Using SysML in an RTC-based Robotics Application](https://reader033.vdocuments.mx/reader033/viewer/2022052823/554f67d4b4c905bb178b4beb/html5/thumbnails/25.jpg)
Thank You !
Honda R&D Team
Noriaki Ando
Kenji Hiranabe
Toshiki Iwanaga
Toshihiro Okamura
Makoto Sekiya
Isao Hara
Toyotaka Torii
Geoffrey Biggs