Dynamic Deployment and Configuration Standard

for Robotic Technology Component: DDC4RTC

Noriaki Ando, AIST (DDC4RTC FTF Co-chair)

Seungwoog Jung, ETRI (DDC4RTC FTF Co-chair)

Overview

• RTC specification and its implementation• Motivation• DDC4RTC specification

– RTC Specific features– ApplicationSupervisor

• Conclusion

2

OMG RTC Family

3

Name Vendor FeatureOpenRTM-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

RTMSafety 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.

Background

• Component model standard and implementations– OpenRTM-aist and

OPRoS• No deployment

standard for RTC

4

Same component model,but no interoperabilitybetween system description

OMG RTCStandard

AIST

ETRI

Motivation

• Many RTCs are distributed spatially

• Systems would be constructed as RTCs aggregation

• System structure should be changed according to the environmental changes in run-time

5

RTC RTC RTC

RTC

RTC

RTCRTC

RTC

RTCRTC

camera0 camera1 camera2

tv0

light1

robot0 robot0

door0

window0 window1

living_room0RTCRTC

bed_room0

bed_room0

robot0RTC

camera2RTC

living_room0

camera1RTC

robot0RTC

tv0RTC

door0RTC

window0RTC

camera0RTC

navigationRTC

monitoringRTC

navigationRTC

monitoringRTC

window1RTC

Bed Room Living Room

Room monitoring application Robot navigation application Interactive service application

System Reconfiguration

DDC4RTC Specification

• DEPL: Deployment and Configuration of Component-based Distributed Applications Specification

• RTC: Robotic Technology Component specification

DEPL SupervisorFSM+ DDC4RTC=RTC

• RFP: Minneapolis meeting, Jun. 2010– mars/10-06-16 (Deployment and Dynamic Configuration (DDC) of Robotic Technology

Components (DDC4RTC) RFP• Submitters: ETRI, AIST• Initial Submissions: Santa Clara Meeting Dec. 2010• Approved by AB and TC: Jun. 2012

DDC4RTC Packages• Consists of four

packages– Component Data Model– Component

Management Model– Execution Data Model– Execution Management

Model

• Each package inherits same name package of DEPL specification.

pkg DDC 4RT C

E xt ernal Models

(from M odel)

C omponent Dat aModel

(from DE P L )

C omponent Management Model

(from DE P L )

E xec ut ionDat aModel

(from DE P L )

E xec ut ionManagement Model

(from DE P L )

T arget Dat aModel

(from DE P L )

T arget ManagementModel

(from DE P L )

DDC 4RT C

(from M odel)

C omponent Dat aModel

C omponent ManagementModel

E xec ut ionDat aModel

E xec ut ion Management Model

<<import>>

<<import>>

<<import>>

<<import >>

Component Data ModelPort in DEPL and Port in RTC

Port models in DEPL and RTC are different

Application Supervisor

9

State A State B

State C

State A State B

State C

ApplicationSupervisor Service

SupervisorFSM

RTC based Systems

SupervisorFSMDescription

Behavior of ApplicationSupervisor and RTCs.

Conclusion• A dynamic deployment and configuration

standard: DDC4RTC was introduced.– Now finalization phase in OMG– FTF report will be submitted next June?, and the

specification will be in public 2014.

• It is based on DEPL and RTC specifications in OMG.

• SupervisorFSM and ApplicationSupervisor is added for dynamic systems

• By reusing existing standard specification, most of parts could be shared and extension parts could be minimized.

11