High-Level Description of Robot Architecture

11/25/2020
by   Sabah Al-Fedaghi, et al.
0

Architectural Description (AD) is the backbone that facilitates the implementation and validation of robotic systems. In general, current high-level ADs reflect great variation and lead to various difficulties, including mixing ADs with implementation issues. They lack the qualities of being systematic and coherent, as well as lacking technical-related forms (e.g., icons of faces, computer screens). Additionally, a variety of languages exist for eliciting requirements, such as object-oriented analysis methods susceptible to inconsistency (e.g., those using multiple diagrams in UML and SysML). In this paper, we orient our research toward a more generic conceptualization of ADs in robotics. We apply a new modeling methodology, namely the Thinging Machine (TM), to describe the architecture in robotic systems. The focus of such an application is on high-level specification, which is one important aspect for realizing the design and implementation in such systems. TM modeling can be utilized in documentation and communication and as the first step in the system s design phase. Accordingly, sample robot architectures are re-expressed in terms of TM, thus developing (1) a static model that captures the robot s atemporal aspects, (2) a dynamic model that identifies states, and (3) a behavioral model that specifies the chronology of events in the system. This result shows a viable approach in robot modeling that determines a robot system s behavior through its static description.

READ FULL TEXT

page 5

page 6

page 8

page 9

research
08/11/2020

Changes, States, and Events: The Thread from Staticity to Dynamism in the Conceptual Modeling of Systems

This paper examines the concept of change in conceptual modeling. Change...
research
05/01/2020

Three Levels of Modeling: Static (Structure/Trajectories of Flow), Dynamic (Events) and Behavioral (Chronology of Events)

Constructing a conceptual model as an abstract representation of a porti...
research
03/31/2019

An Embodied, Platform-invariant Architecture for Connecting High-level Spatial Commands to Platform Articulation

In contexts such as teleoperation, robot reprogramming, human-robot-inte...
research
05/03/2021

Model Multiplicity (UML) Versus Model Singularity in System Requirements and Design

A conceptual model can be used to manage complexity in both the design a...
research
06/11/2020

How to Document Computer Networks

Documenting networks is an essential tool for troubleshooting network pr...
research
02/05/2021

UML Modeling to TM Modeling and Back

Certainly, the success of the Unified Modeling Language (UML) as the de ...
research
07/16/2020

Enabling Morally Sensitive Robotic Clarification Requests

The design of current natural language oriented robot architectures enab...

Please sign up or login with your details

Forgot password? Click here to reset