The document introduces the Dynamic Deployment and Configuration Standard for Robotic Technology Component (DDC4RTC). It describes DDC4RTC's motivation to standardize deployment of RTC-based systems. DDC4RTC extends existing RTC and DEPL specifications by adding a Component Data Model, ApplicationSupervisor service, and SupervisorFSM to enable dynamic configuration of distributed RTC-based robotic systems.

1. Dynamic Deployment and Configuration Standard
for Robotic Technology Component:
DDC4RTC
Noriaki Ando, AIST (DDC4RTC FTF Co-chair)
Seungwoog Jung, ETRI (DDC4RTC FTF Co-chair)

2. Overview
• RTC specification and its implementation
• Motivation
• DDC4RTC specification
– RTC Specific features
– ApplicationSupervisor
• Conclusion
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3. OMG RTC Family
Name Vendor Feature
OpenRTM-aist AIST C++, Python, Java
OpenRTM.NET SEC .NET(C#,VB,C++/CLI, F#, etc..)
miniRTC, SEC RTC implementation for CAN ・ ZigBee based
microRTC systems
RTMSafety 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.
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4. Background
• Component model
standard and
implementations
OMG RTC
– OpenRTM-aist and Standard
OPRoS AIST
• No deployment
standard for RTC ETRI
Same component
model,
but no interoperability
between system
description
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5. Motivation
RTC RTC RTC • Many RTCs are
camera0 camera1 camera2
window0 RTC window1 RTC
distributed spatially
door0
RTC
• Systems would be
RTC
light1 constructed as RTCs
RTC
tv0
aggregation
RTC
RTC RTC
RTC
• System structure
bed_room0 robot0 robot0 living_room0
should be changed
System
Bed Room Reconfiguration Living Room
window0 camera0 door0 tv0 camera1 camera2 window1
RTC RTC RTC RTC RTC RTC RTC
according to the
monitoring
RTC
navigation
RTC
robot0
RTC
robot0
RTC navigation
RTC
monitoring
RTC
environmental
changes in run-time
bed_room0 living_room0
Room monitoring application Robot navigation application Interactive service application
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6. DDC4RTC Specification
• RFP: Minneapolis meeting, Jun. 2010
– mars/10-06-16 (Deployment and Dynamic Configuration (DDC) of Robotic Technology
Components (DDC4RTC) RFP
• Submitters: ETRI, AIST
• Initial Submissions: Santa Clara Meeting Dec. 2010
• Approved by AB and TC: Jun. 2012
DEPL + SupervisorFSM = DDC4RTC
RTC
• DEPL: Deployment and Configuration of Component-based
Distributed Applications Specification
• RTC: Robotic Technology Component specification

7. DDC4RTC Packages
pkg DDC 4RTC
DDC 4RTC E x t e r n a l M o d e ls
• Consists of four C om pon e ntDa ta Mo de l
C om pon e ntDa ta Mode l
packages < < im p o r t > >
(fro m D E P L )
– Component Data Model
C om pon e ntMa na g e m e ntMod e l
C om p one ntMa na ge m e n tMode l
– Component < < im p o r t > >
(fro m D E P L )
Management Model
T a rg e t D a t a M o d e l
– Execution Data Model (fro m D E P L )
T a rg e t M a n a g e m e n t M o d e l
– Execution Management E x e c u t io n D a t a M o d e l
Model (fro m D E P L )
E x e c u t io n D a t a M o d e l
< < im p o r t > >
• Each package inherits E x e c u t io n M a n a g e m e n t M o d e l (fro m D E P L )
same name package of < < im p o r t > >
E x e c u t io n M a n a g e m e n t M o d e l
DEPL specification. (fro m D E P L )
( f r o m M o d e l) ( f r o m M o d e l)

8. Component Data Model
Port in DEPL and Port in RTC
Port models in DEPL and RTC are different

9. Application Supervisor
SupervisorFSM
State A State B
State C
SupervisorFSM
ApplicationSupervisor Service Description
RTC based Systems
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10. Behavior of ApplicationSupervisor and RTCs.

11. Conclusion
• A dynamic deployment and configuration
standard: DDC4RTC was introduced.
– Now finalization phase in OMG
– FTF report will be submitted next June?, and the
specification will be in public 2014.
• It is based on DEPL and RTC specifications in
OMG.
• SupervisorFSM and ApplicationSupervisor is
added for dynamic systems
• By reusing existing standard specification, most of
parts could be shared and extension parts could
be minimized.
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