Reusable robot system for display and disposal tasks at convenience stores based on a SysML model and RT Middleware
Reusable robot system for display and disposal tasks at convenience stores based on a SysML model and RT Middleware
复制标题
基于 SysML 模型和 RT 中间件的可重复使用机器人系统，用于便利店的展示和处理任务
DOI：
10.1080/01691864.2019.1700160
复制
发表时间：
2019
影响因子：
2
通讯作者：
K. Ohara
中科院分区：
文献类型：
--
作者：
H. Tsuji;Mayuka Shii;Shogo Yokoyama;Yuki Takamido;Yuji Murase;Soshi Masaki;K. Ohara
服务机器人越来越被期望取代人类劳动力;然而，在实际环境中，这些机器人尚未得到充分利用，部分原因是服务机器人的应用范围非常广泛。应开发适当的硬件和软件，以科普各种各样的应用。理想情况下，这些资源应该使用通用的硬件和软件平台进行开发。机器人软件的中间件平台，如ROS和RT中间件，已经开发出来。然而，这些平台仍然面临着可重用性问题，由于系统架构的不一致性。系统通常被假设为在给定的架构下被重用，如果用户端软件架构与此假设不一致，系统的可重用性就会受到影响。为了解决这个问题，我们提出了一个使用SysML优化系统开发的过程。在本研究中，我们的机器人系统被设计来完成一个显示器处理任务在一家便利店，我们验证了机器人系统使用此任务的有效性。此外，为了验证所开发的机器人系统的可重用性，我们采用了另一项任务开发的系统功能，并展示其重用和操作。图形摘要
Service robots are increasingly being expected to replace human labor; however, in practical settings, these robots have not been fully utilized, partly because the applications that service robots are expected are quite broad. Suitable hardware and software should be developed in order to cope with a wide variety of applications. Ideally, these resources should be developed using common hardware and software platforms are required. Middleware platforms for robotics software, such as ROS and RT Middleware, have already been developed. However, these platforms still face reusability problems due to the inconsistency present in system architectures. Systems are typically assumed to be reused with a given architecture, and if the user-side software architecture is inconsistent with this assumption, the system's reusability suffers. To address this issue, we propose a procedure for optimizing system development using SysML. In this study, our robot system is designed to complete a display disposal tasks in a convenience store; we verify the validity of the robot system using this task. In addition, to verify the reusability of the developed robot system, we employ system functions developed for another task and demonstrate their reuse and operation. GRAPHICAL ABSTRACT