1. A Formal Approach in Robot Development Process using a UML Model Authors ： Olarn Wongwirat Tanachai Hanidthikul Natee Vuthikulvanich 2008 IEEE 10th Intl. Conf. on Control, Automation, Robotics and Vision Hanoi, Vietnam, 17–20 December 2008 Speaker ：陳明睿 M98G0105 Faculty of Information Technology King Mongkut’s Institute of Technology Ladkrabang Bangkok, Thailand 2015/11/201

2. Outline Introduction Requirements capture phase Analysis and design phases using UML ◦ Use case diagram ◦ Activity diagram ◦ Class diagram ◦ Hardware design Implement and test phases Conclusions 2015/11/202

3. Introduction Traditional 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 2015/11/203

4. Requirements capture phase Functional 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. ◦ ………… 2015/11/204

5. Analysis and design phases using UML Use Case Diagram The system graphically for analyzing the entire relevant processes. light values Driving motors speed and direction light values touch sensors 2015/11/205

6. Analysis and design phases using UML Activity Diagram 1.receives the signal 2.checks to verify the signal normal field, ascent, and descent 2015/11/206

7. Analysis and design phases using UML Activity Diagram Detect Start/End Points Control Movement (forward or backward…speeds) Detect BorderLine 2015/11/207

8. Analysis and design phases using UML Activity Diagram Detect ImpedimentDodge ObstacleCheck Past DirectionCalculate New Path 2015/11/208

9. Analysis and design phases using UML Class Diagram 2015/11/209

10. Analysis and design phases using UML Mindstorms Lego RCX that composes of MPU Main Component ◦ Light sensor, Touch sensors, and Motors, RCX’s MPU includes ◦ memory unit, input/output ports, address bus, and data bus inside Memory 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 2015/11/2010

11. Implement and test phases We 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 colors 3. reach the end point 2015/11/2011

12. Implement 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. 2015/11/2012

13. Implement and test phases Third experiment ◦ placed the up and down slop into the field Verify the robot could sense the slop and adjust the movement conditions 2015/11/2013

14. Implement and test phases Final experiment ◦ combined the entire conditions from the three experiments. The robot can move across the obstacles and reach the end point 2015/11/2014

15. Conclusions This 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. 2015/11/2015