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Introduction to Robotic Technology Components (RTC), MARS PTF

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Rick Warren
Rick Warren

Presentation to the Middleware and Related Services (MARS) Platform Task Force (PTF) of the Object Management Group (OMG) describing the then-proposed Robotic Technology Component (RTC) Specification in June, 2006.

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Introduction to RTC Robotic Technology Component Specification Revised Submission MARS, June 2006 Boston, MA National Institute of Advanced Science & Technology (AIST) Real-Time Innovations (RTI)
Timeline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Problem Statement ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Solution Requirements ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Features of RTC ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Relation to Existing Standards ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
PIM Overview ,[object Object],[object Object],[object Object],[object Object]
PIM Overview ,[object Object],[object Object],[object Object],[object Object],[object Object]
PIM Overview ,[object Object],[object Object]
PIM Overview ,[object Object],[object Object],[object Object]
RT Component Example
Platform-Specific Models ,[object Object],[object Object],[object Object],[object Object],[object Object]
Lightweight RTC Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Components & Contexts Composite component contains instances of other components
Components & Contexts Autonomous component owns execution context(s)
Components & Contexts Component participates in one or more contexts owned by containing component(s) Component is active or inactive in each context it in which it participates
Component Lifecycle
Component Lifecycle ,[object Object],[object Object],[object Object]
Execution Semantics Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Data Flow Execution ,[object Object],[object Object],[object Object],[object Object]
Stimulus Response Execution ,[object Object],[object Object],[object Object]
Modes of Operation ,[object Object],[object Object],[object Object],[object Object],Normal Mode Safe Mode
Introspection Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Introspection & SDO ,[object Object],[object Object],[object Object]
Interfaces & Profiles ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Conclusion ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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Introduction to Robotic Technology Components (RTC), MARS PTF

  • 1. Introduction to RTC Robotic Technology Component Specification Revised Submission MARS, June 2006 Boston, MA National Institute of Advanced Science & Technology (AIST) Real-Time Innovations (RTI)
  • 2.
  • 3.
  • 4.
  • 5.
  • 6.
  • 7.
  • 8.
  • 9.
  • 10.
  • 12.
  • 13.
  • 14. Components & Contexts Composite component contains instances of other components
  • 15. Components & Contexts Autonomous component owns execution context(s)
  • 16. Components & Contexts Component participates in one or more contexts owned by containing component(s) Component is active or inactive in each context it in which it participates
  • 18.
  • 19.
  • 20.
  • 21.
  • 22.
  • 23.
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  • 26.

Editor's Notes

  1. Welcome Hold questions until the end
  2. Dev process problem Gap in level of abstraction between how engineers think about problem and expressiveness of programming language(s) Engineers may not be formally trained in software or modeling => Common practices, methodologies, frameworks very important, but missing now Technical problem: spectrum Data flow: series of actions execute in lock-step Stim response: asynchronous, but still causal Autonomous: loose contract comes from components themselves, not imposed by external constraints
  3. In addition to addressing specific problem characteristics, there are more general requirements called out in RFP Interoperability has 2 aspects Comps from different vendors communicate Tool composes application at design time, monitors at runtime Composition can be looked at from two directions: Solution-driven: combine pre-built comps to solve bigger problem Problem-driven: top-down division of labor, decompose big problem into smaller
  4. RTC fits problem domain, meets solution requirements