130719 01

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130719 01

  1. 1. OpenRTM-aist RT 1
  2. 2. 22 •  RT = Robot Technology cf. IT –  ≠Real-time –  ( , etc….) •  RT-Middleware RTM) –  RT •  RT-Component RTC) –  RT-Middleware RT-Middleware + + + + + RT ? RT OpenRTM-aist
  3. 3. 3 … Joystick Robot Arm Joystick software Robot Arm Control software
  4. 4. 4 Joystick Humanoid’s Arm Robot Arm Joystick software Humanoid’s Arm Control software Robot Arm Control software …
  5. 5. 5 compatible arm interfaces RT RT Joystick Joystick software Arm A Control software Arm B Control software Humanoid’s Arm Robot Arm RT …
  6. 6. 6 etc… •  –  OS –  RDBMS ORB •  –  –  CORBA Java RMI DCOM •  –  •  CBSD Component Based Software Development – 
  7. 7. •  –  •  –  •  –  •  –  •  – 
  8. 8. RT •  –  •  –  •  –  LAN
  9. 9. 99 RT •  •  •  A B C RT
  10. 10. 10 RT RT 10 RT RT RT RTC RT RTC RTC RTC RTC RTC RTC RTC RTC RTC OS RT RTM RTC etc…
  11. 11. RT 11 Inactive Active Error RTC RTC RTC 1 TI s TDs Kp+ - •  •  •  •  •  –  –  –  etc… 3D etc… •  •  • 
  12. 12. RTC
  13. 13. RT RTCRTC RTM Windows RTCRTC RTM TRON RTCRTC RTM Linux RTCRTC RTM Solaris RTCRTC RTM FreeBSD RTCRTC RTM ARTLinux RTC A B C RTM RTC OS RTC
  14. 14. OpenRTM-aist •  + •  : –  OMG Robotic Technology Component Specification ver1.0 •  OS –  Linux, FreeBSD, Windows, Mac OS X, QNX –  : uITRON, T-Kernel, VxWorks •  : –  C++ (1.1.0), Python (1.0.0), Java (1.0.0) –  .NET (implemented by SEC) •  CPU ( ): –  i386, ARM, PPC, SH4 –  PIC, dsPIC, SH2, H8 (RTC-Lite) •  (Eclipse ) –  : rtc-template RTCBuilder –  : RTSystemEditor 14
  15. 15. 15 OMG RTC •  2005 9 RFP Robot Technology Components (RTCs) •  2006 2 Initial Response : PIM and PSM for RTComponent AIST( ) RTI( ) •  2006 4 •  2006 9 AB FTF •  2007 8 FTF •  2007 9 AB FTF •  2008 4 OMG RTC •  2010 1 OpenRTM-aist-1.0
  16. 16. OMG RTC 16 Name Vendor Feature OpenRTM-aist AIST C++, Python, Java OpenRTM.NET SEC .NET(C#,VB,C++/CLI, F#, etc..) miniRTC, microRTC SEC CAN ZigBee RTC Dependable RTM SEC/AIST (IEC61508) capable RTM RTC CANOpen SIT, CiA CANOpen CiA (Can in automation) RTC PALRO C++ PSM OPRoS ETRI GostaiRTC GOSTAI, THALES C++ PSM H-RTM ( ) R&D OpenRTM-aist FSM •  •  PSM(Platform Specific Model):
  17. 17. 2008 2009 20102005 2006 20072002 2003 2004 2011 RT RTM0.1 OpenRTM-aist 0.2.0 OpenRTM-aist 0.4.0 OMG RTC spec. approved FY OMG RTC spec. draft OMG RTC OpenRTM-aist 1.0 2007 RT-Middleware from 2002 NEDO UCROA B) NEDO NEDO
  18. 18. RT PJ FY2002.12-FY2004 •  NEDO 21 –  •  –  RT –  –  RT •  –  65 –  267.3 18
  19. 19. NEDO PJ FY2003-FY2007 •  •  –  –  RTC –  RTM/RTC •  –  15 / –  371 1,259 19 JavaVM Eclipse  Paltform Java開発環境 プラグイン C++開発環境 プラグイン RtcLink プラグイン その他の ロボット開発 ツール プラグイン 追加・拡張 Eclipse dsPIC RTC-Lite RTC-CAN
  20. 20. PJ FY2007-FY2012 •  •  –  –  •  –  400 –  7,000 •  –  15 20
  21. 21. RT 21 2008 2009 2010 2011 2012 C++ 4978 9136 12049 1851 253 28267 Python 728 1686 2387 566 55 5422 Java 643 1130 685 384 46 2888 Tool 3993 6306 3491 967 39 14796 All 10342 18258 18612 3768 393 51373 2012 2 RT 287 RT 14 19 4 28 Web 365 Web 300 visit/day 1000 view/day 447 592 +22 Google Map 46 OMG RTC 11 Name Vendor Feature OpenRTM-aist AIST C++, Python, Java OpenRTM.NET SEC .NET(C#,VB,C++/CLI, F#, etc..) miniRTC, microRTC SEC CAN ZigBee RTC Dependable RTM SEC/AIST (IEC61508) capable RTM RTC CANOpen SIT, CiA CANOpen CiA (Can in automation) RTC PALRO C++ PSM OPRoS ETRI GostaiRTC GOSTAI, THALES C++ PSM
  22. 22. •  •  RTC 22 RT 287 RT 14 19 4 28
  23. 23. •  OpenRTM •  23
  24. 24. NEDO RT •  www.openrtm.org NEDO PJ –  –  –  –  –  5
  25. 25. •  1 •  7 29 8 2 •  10 •  •  1 •  25
  26. 26. RT •  SICE SI –  9 –  10 –  10 –  12 •  2012 –  17 –  RT 10 –  3 –  10 –  5 •  Web openrtm.org –  26
  27. 27. ROS ROS •  UNIX CUI •  •  –  WG •  •  •  ROS •  Ubuntu –  Windows •  –  –  –  • 
  28. 28. OpenRTM OpenRTM •  OS –  Windows UNIX uITRON T- Kernel VxWorks QNX –  Windows •  GUI •  –  OMG –  –  10 •  –  UML SysML –  •  IEC61508 –  RTMSafety OpenRTM •  •  •  CUI –  UNIX •  •  •  •  – 
  29. 29. •  –  –  –  –  •  –  ML –  –  –  29
  30. 30. RT 30
  31. 31. RTC 4 31 Inactive Active Error RTC RTC RTC 1 TI s TDs Kp+ - •  •  •  •  •  –  –  –  etc… 3D etc… •  •  •  4 RTC
  32. 32. ActiveDo/RTC::onExecute DataFlow 32
  33. 33. onInitialize onActivated 1 onExecute onDeactivated 1 onAborting ERROR 1 onReset reset 1 onError ERROR onFinalize 1 onStateUpdate onExecute onRateChanged ExecutionContext rate 1 onStartup ExecutionContext 1 onShutdown ExecutionContext 1 RTC 5 OK
  34. 34. InPort •  InPort 2 –  •  InPort –  read(): InPort –  >> : リング バ ッファ バ インドされ た変 数 read() ope rator> > 最 新 値 InP ort Robot Component Sensor Data OutPort
  35. 35. :OutPort •  OutPort 2 –  •  OutPort –  write(): OutPort –  >> : リングバッファ バインドされた変数 write() operator<< OutP ort 最新値 Sensor Component Sensor Data InPort
  36. 36. struct TimedShort { Time tm; short data; }; struct TimedShortSeq { Time tm; sequence<short> data; }; •  –  tm –  data: •  –  data[i]: –  data.length(i): i –  data.length(): •  •  CORBA • 
  37. 37. 37 B •  •  •  1 TI s TDs Kp+ - 3D A
  38. 38. 38 •  –  –  –  •  –  –  –  –  etc… 3D etc… - - - etc… BA
  39. 39. 39 •  –  –  •  •  •  Kp Ki Kd Inmax Inmin 0.6 0.01 0.4 5.0 -5.0 modeA PID Kp Ki Kd Inmax Inmin 0.8 0.0 0.01 10.0 -10.0 modeB Kp Ki Kd Inmax Inmin 0.3 0.1 0.31 1.0 -1.0 modeC Ki s Kds + Kp PID PID
  40. 40. RT rtc.conf RT Component NamingService corba.nameservers: localhost:9876 naming.formats: SimpleComponent/%n.rtc etc/rtc.conf.sample ./ConsoleInComp –f rtc.conf 40 http://www.openrtm.org/openrtm/ja/content/rtcconf%E8%A8%AD%E5%AE%9A%E9%A0%85%E7%9B %AE%E4%B8%80%E8%A6%A7 rtc.conf
  41. 41. RT 41
  42. 42. OpenRTM 42 RtcTemplate C++ RTC .so or DLL
  43. 43. ステレオビジョン ルゴリズムア コアロジック 右目画像左目画像 デプスマップ RT ンポーネント レームワーク コ フ RT ンポーネント 準インターフェース コ 標 ステレオビジョン RT ンポーネントコ RT ンポーネント 準インターフェース コ 標 右目画像左目画像 デプスマップ + =中身は空 RTC RT
  44. 44. Windows 44 RTBuilder CMake Visual C++ VC VC RT System Editor RT RT
  45. 45. •  RT –  –  –  Web •  RT –  –  –  rtc.conf 45

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