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Using SysML in an RTC-based Robotics Application  Slide 1 Using SysML in an RTC-based Robotics Application  Slide 2 Using SysML in an RTC-based Robotics Application  Slide 3 Using SysML in an RTC-based Robotics Application  Slide 4 Using SysML in an RTC-based Robotics Application  Slide 5 Using SysML in an RTC-based Robotics Application  Slide 6 Using SysML in an RTC-based Robotics Application  Slide 7 Using SysML in an RTC-based Robotics Application  Slide 8 Using SysML in an RTC-based Robotics Application  Slide 9 Using SysML in an RTC-based Robotics Application  Slide 10 Using SysML in an RTC-based Robotics Application  Slide 11 Using SysML in an RTC-based Robotics Application  Slide 12 Using SysML in an RTC-based Robotics Application  Slide 13 Using SysML in an RTC-based Robotics Application  Slide 14 Using SysML in an RTC-based Robotics Application  Slide 15 Using SysML in an RTC-based Robotics Application  Slide 16 Using SysML in an RTC-based Robotics Application  Slide 17 Using SysML in an RTC-based Robotics Application  Slide 18 Using SysML in an RTC-based Robotics Application  Slide 19 Using SysML in an RTC-based Robotics Application  Slide 20 Using SysML in an RTC-based Robotics Application  Slide 21 Using SysML in an RTC-based Robotics Application  Slide 22 Using SysML in an RTC-based Robotics Application  Slide 23 Using SysML in an RTC-based Robotics Application  Slide 24 Using SysML in an RTC-based Robotics Application  Slide 25
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Using SysML in an RTC-based Robotics Application

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My presentation on 12/8, 2012, at OMG Robotics Meeting

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Using SysML in an RTC-based Robotics Application

  1. 1. 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)
  2. 2. 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
  3. 3. 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。
  4. 4. プロジェクトメンバー Honda R&D Team 平鍋健児 安藤慶昭 関谷 眞 岩永寿来 Geoffrey Biggs 鳥井 豊隆 岡村敏弘 原功 1 SysML to RTC 2 OpenRTM to Honda RTM
  5. 5. 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 SysML to RTC • 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 2 OpenRTM to Honda RTM
  6. 6. 問題記述 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 Controller PC Operator モードとデモモード切り替えること kinect 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 Wi-Fi たRoombaを、Wi-Fi通信で、 Kinectを使ってモードスイッチする。Receiver PC Roomba
  7. 7. System architecture Kinect Kinect SDK OpenRTM Runtime Honda R&D RTM Runtime Kinect input RTC (OpenRTM-aist) Controller RTC (Honda R&D RTM) Controller PC Receiver PC for OpenRTM Receiver PC for Honda R&D RTM OpenRTM Runtime Honda R&D RTM Runtime Robot RTC (OpenRTM-aist) Robot RTC (Honda R&D RTM) libRoomba libRoomba Roomba SCI (Serial Control Interface) Roomba SCI (Serial Control Interface) Roomba Roomba RTC connector Software I/F Serial Bus (USB/RS232C)
  8. 8. OMG RTC Family 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. 8
  9. 9. Process overview Implementation astah SysML OpenRTM-aist RTC source SysML SysML SysML SysML codes Requirements requirements Components ← Component RTCBuilder (Skelton ) (Block) (block) ↑ SysML RTCs Component SysML SysML (block) SysML Use cases FSM STMs Use cases RTSystemEditor Executable RTC SysML SysML Restore connectors Context requirements (Block) RTC Plugin Honda R&D RTM RTC source codes astah RTM (Skelton ) Component spec. SysML RTCFSM FSMs RTCs Component RTC.xml (block) RTS.xml Executable RTC Analysis Design Implementation 1 SysML to RTC 2 OpenRTM to Honda RTM
  10. 10. 分析と設計 (Astahモデル)
  11. 11. Overview
  12. 12. req [コア要求(問題文)]
  13. 13. req [派生要求]
  14. 14. req [Robotへの要求]
  15. 15. req [Controllerへ要求]
  16. 16. uc [デモユースケース]
  17. 17. bdd [コンテキスト図]
  18. 18. bdd [システム概要]
  19. 19. ibd [デモシステム]
  20. 20. ibd [robot物理構造]
  21. 21. ibd [controller物理構造]
  22. 22. stm [controller状態遷移]
  23. 23. 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。
  24. 24. 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。
  25. 25. Thank You ! Honda R&D Team Kenji Hiranabe Noriaki Ando Makoto Sekiya Toshiki Iwanaga Geoffrey Biggs Toyotaka Torii Toshihiro Okamura Isao Hara
  • chinamiH

    Jan. 22, 2016
  • akihitoohsato

    May. 29, 2013
  • masaakikameyama1

    May. 29, 2013
  • zoetrope

    Jan. 25, 2013

My presentation on 12/8, 2012, at OMG Robotics Meeting

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