OMG meeting at Burlingame

1. robotics2012-12-10
Using SysML in a RTC-based Robotics
Application : a case study with a demo
Kenji Hiranabe(Change Vision, Inc)
Noriaki Ando (AIST)

2. Agenda
• Introduction
• Background and Goals
• Problem
• Analysis and Design via Demo
• Conclusion
• Future Ideas

3. Who am I ?
• Kenji Hiranabe, Change Vision, Inc.(maker of Astah)
• Astah is a UML editor popular in Japan
– http://astah.net/
• Astah/SysML
– Newly developed
– Focused on “Usability” and “Web collaboration”
• RTC plug-in
– Plug-in for Astah/SysML to generate RTC.xml to
OpenRTM

4. Project members
Honda R&D Team
Kenji Hiranabe
Noriaki Ando
Makoto Sekiya
Toshiki Iwanaga
Geoffrey Biggs
Toyotaka Torii
Toshihiro Okamura
Isao Hara
1 SysML to RTC 2 OpenRTM to Honda RTM

5. Background and Goals
• Evaluate how SysML can help design a
component(RTC)-based robotic application
using a simple problem.
1 SysML to RTC
• Try a demonstration test to verify that one
common model can work and interoperate on
multiple RTM implementations.
– OpenRTM-aist
– Honda R&D RTM
2 OpenRTM to Honda RTM

6. Problem Description
Demonstrate the movements
(Spiral and Back-and-Forth) by
controlling multiple autonomous Controller PC Operator
robots from externally. Operator kinect
can switch between the
autonomous mode and
demonstration mode. Wi-Fi
Hardware architecture is
already known, we use Roomba Receiver PC
with PC that can control it using
Wi-Fi and use Kinect to switch Roomba
the mode.

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. 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. Process overview
Implementation
astah SysML RTC source
SysML
OpenRTM-aist codes
SysML
SysML SysML
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 (Block)
requirements
RTC Plugin Honda R&D RTM RTC source
codes
astah RTM (Skelton )
Component
SysML
spec. RTCFSM
FSMs RTCs
Component
RTC.xml (block)
RTS.xml
Executable RTC
Analysis Design Implementation
1 SysML to RTC 2 OpenRTM to Honda RTM

10. Analysis and Design
Diagrams in Astah /
SysML

11. Overview

12. req [Core requirements]

13. req [Derived Requirements]

14. req [Robot requirements]

15. req [Controller requirements]

16. uc [Use cases]

17. bdd [Context diagram]

18. bdd [System overview]

19. ibd [Demo system components]

20. ibd [Physical structure of robot]

21. ibd [Physical structure of controller]

22. stm [State machine of controller]

23. Conclusion
• SysML “Block”s map to “RTC”s nicely.
• <<Satisfy>> relationships between
“Requirements” and “Components” can be
visualized to show the intentions of
components reasonably.
• An Easy-to-use tool(Astah/SysML) boosted
effectiveness of modeling.
• Communication between teams worked well
using web-based model sharing feature of the
tool.

24. Future Topics
• Real-time aspects into the model
• Relate Safety Case models(Software
Assurance Case Model/Safe ML) with
SysML models
• SysML Profile for RTC.
• Traceability and impact analysis
from/to requirements to
components via the tool.

25. Thank You !
We are exhibiting the demo, and tools. Please visit us.
Honda R&D Team
Kenji Hiranabe
Noriaki Ando
Makoto Sekiya
Toshiki Iwanaga
Geoffrey Biggs
Toyotaka Torii
Toshihiro Okamura
Isao Hara