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Introduction to Robotic Technology Components (RTC), Robotics DTF

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Rick Warren
Rick Warren

Presentation to the Robotics Domain Task Force (DTF) of the Object Management Group (OMG) describing the then-proposed Robotic Technology Component Specification in June, 2006.

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Introduction to RTC Robotic Technology Component Specification Robotics DTF June 28 2006 Boston, MA, United States Dr. Noriaki Ando [email_address] National Institute of Advanced Science & Technology (AIST) Rick Warren [email_address] Real-Time Innovations (RTI)
Timeline Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Timeline of this Meeting ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
What is RTC? ,[object Object],[object Object],[object Object]
Benefits of RTC ,[object Object],LwRTC Execution Semantics Introspection ,[object Object],[object Object],[object Object]
Benefits of RTC ,[object Object],Data flow / periodic, synchronous processing STATE A STATE B Stimulus-response / discrete-event processing Modes of operation
Benefits of RTC ,[object Object],Component A Component B ,[object Object],[object Object]
Summary: Features of RTC ,[object Object],[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]
Example: Path Planning ,[object Object],[object Object],[object Object],Data Find Call Localization Path Planning Trajectory Generation
Component Lifecycle (2.2.2.3) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Life Cycle Callbacks (2.2.2.5) ,[object Object],[object Object],Called when component… Callback is in error steady state on_error encounters error on_aborting switched off (any # times) on_deactivate switched on (any # times) on_activate destroyed (only once) on_finalize initialized (once) on_initialize
Execution Context (2.2.2.6) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Execution Kinds ,[object Object],[object Object],[object Object],[object Object],[object Object]
Periodic Execution (2.3.1) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Order of Operations ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Stimulus Response (2.3.2) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Dynamic Connection (2.4) ,[object Object],[object Object],[object Object]
Getting Involved ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Coming Up Next ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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Introduction to Robotic Technology Components (RTC), Robotics DTF

  • 1. Introduction to RTC Robotic Technology Component Specification Robotics DTF June 28 2006 Boston, MA, United States Dr. Noriaki Ando [email_address] National Institute of Advanced Science & Technology (AIST) Rick Warren [email_address] Real-Time Innovations (RTI)
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Notas del editor

  1. RTC fits problem domain, meets solution requirements