A Formal Approach in Robot A Formal Approach in Robot Development ProcessDevelopment Process using a UML Modelusing a UML Model

Authors：Olarn WongwiratTanachai Hanidthikul Natee Vuthikulvanich

2008 IEEE 10th Intl. Conf. on Control, Automation, Robotics and VisionHanoi, Vietnam, 17–20 December 2008

Speaker ：陳明睿 M98G0105

Faculty of Information TechnologyKing Mongkut’s Institute of Technology Ladkrabang Bangkok, Thailand

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OutlineOutlineIntroductionRequirements capture phaseAnalysis and design phases using UML◦Use case diagram◦Activity diagram◦Class diagram◦Hardware design

Implement and test phasesConclusions

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IntroductionIntroductionTraditional approach◦ iterative, waterfall, spiral, evolutionary

OOADM ( Object-Oriented Analysis and Design Methodology )

◦ Five phases used in the development process capturing requirements, analysis, design,

implementation, and test

◦The UML is used as a standard notation for specifying the system

Use of UML diagrams to model the mobile robot

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Requirements capture phaseRequirements capture phaseFunctional requirement (robot must be performed)◦ the start to the end point autonomously◦ move within the boundary of the field◦ able to climb up and down ◦ choose the routes to avoid obstacles

Non-Functional requirement(component describes)◦ The end point must be clearly specified.◦ Obstacles(block the robot movement)◦ The boundary of the field must be defined◦ The field surfaces must be distinguished to separate the

zones of movement.◦ …………

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Analysis and design phases using Analysis and design phases using UMLUML

Use Case Diagram

The system graphically for analyzing the entire relevant processes.

light values

light values

Driving motors

speed and direction

light values

touch sensors

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Analysis and design phases using Analysis and design phases using UMLUMLActivity Diagram

1.receives the signal 2.checks to verify the signal

normal field, ascent, and descent

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Analysis and design phases using Analysis and design phases using UMLUML

Activity Diagram

Detect Start/End PointsControl Movement

(forward or backward…speeds) Detect BorderLine112/04/20 7

Analysis and design phases using Analysis and design phases using UMLUML

Activity Diagram

Detect Impediment Dodge Obstacle Check Past Direction Calculate New Path112/04/20 8

Analysis and design phases using Analysis and design phases using UMLUML

Class Diagram

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Analysis and design phases using Analysis and design phases using UMLUMLMindstorms Lego RCX that composes of

MPUMain Component◦Light sensor, Touch sensors, and Motors,

RCX’s MPU includes◦memory unit, input/output ports, address bus, and

data bus insideMemory unit ◦ROM is used to store firmware and device drivers◦RAM is used to store a program implemented to

control the field sensing robot

Hardware design

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Implement and test phasesImplement and test phasesWe divided the experiment into four sets to

cover the entire conditions as in the requirement.

First experiment

autonomously

1. the robot could check the color 2. distinguish the zones by different colors3. reach the end point

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Implement and test phasesImplement and test phases

Second experiment◦placed some obstacles into the field to verify

the algorithm of robot that could dodge the obstacles when hitting them.

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Implement and test phasesImplement and test phasesThird experiment◦placed the up and down slop into the field

Verify the robot could sense the slop and adjust the movement conditions

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Implement and test phasesImplement and test phasesFinal experiment◦combined the entire conditions from the three

experiments.

The robot can move across the obstacles and reach the end point112/04/20 14

ConclusionsConclusionsThis article expressed a formal approach

of robot development in an application level by applying the OOADM and UML models.

applying the UML diagrams to model the system in analysis and design phases.

Finally, the experiments were set to verify the robot operations.

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