Abstract

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.

Highlights

  • This paper provides a broad ontological foundation for conceptual modeling in the robotics domain by suggesting a practical ontology in terms of the notion of Thinging Machine (TM)

  • TM modeling uses a one-category ontology called a thimac in contrast to objects, attributes, and relations in the object-oriented paradigm

  • Event 15 (E15): The function is an order; it is sent to the control of the physical body and head

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Summary

INTRODUCTION

The robotic systems must interact with a dynamic environment to be reactive and flexible to unexpected changes Such challenges require good frameworks and models that embody well-defined concepts to effectively manage this complexity. An architectural model is the backbone that facilitates the description, implementation, and validation of robotic systems [3] It is important for communication among stakeholders to provide a common language in which different concerns can be expressed, negotiated, and resolved at a level that is manageable even for complex systems [4]. This paper applies a new modeling methodology, the thinging machine (TM), for architecting robotic systems The focus of such an application is on a high-level AD, which is one important aspect of designing and implementing a robotic system [4]. The AD can be utilized in documentation and communication and as the first step in the system‘s design

RELATED WORKS
RESEARCH PROBLEM AND PROPOSED SOLUTION
THINGING MACHINE MODELING
EXAMPLE: A WINDOW-OPENING ROBOT
The Static TM Model
22 Handle position
The Dynamic Model
E13 Movement to reach
CASE STUDY
TM Static Model
CONCLUSION
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