1. Communication Model for Cooperative Robotics Simulator MSE Presentation 1 Acharaporn Pattaravanichanon

2. Overview Background Requirements/Use cases Project Plan Cost Estimation Architecture Elaboration Plan Software Quality Assurance Plan Demonstration

3. Background/RobotSim

4. Goal Develop communication capability in Cooperative Robotics Simulator in order to provide a basic communication between simulated robots.

5. Primary Use cases

6. Use case 1 – Send Message

7. Use case 2 – Set parameters

8. Requirements Send Broadcast message  Support the ability to send broadcast message.  Support the ability to receive broadcast message.  Only simulated robot that has broadcast capability shall send or receive broadcast message.  Support the ability to delay message before sending out.  Simulated robots with active send link shall send broadcast message to other robots.  Only simulated robot with active receive link shall receive broadcast communication.

9. Requirement (cont.) Send Point-to-Point message  Support the ability to send point-to-point message.  Support the ability to receive point-to-point message  Only simulated robot that has point-to-point capability shall send or receive point-to-point message.  Shall delivery to only one simulated robot specified by a destination address.  Shall support the ability to delay message before sending out.  Simulated robots with active send link shall send point-to-point message to only robot with active receive link  Only simulated robot with active receive link shall receive point-to- point message.  Simulated robots with range restriction shall send messages within range limit

10. Requirement (cont.) Set Parameters  Support the ability to set delay time for each robot or the entire system.  Support the ability to start up or shutdown all the communication links or for each robot. It shall support the ability to activate/deactivate send link only, receive link only or both of them.  Support the ability to set range limit for each simulated robot.  Support the ability to set message delivery probabilities.

11. Project Plan Phase I February 2 – 27  Vision document, Project plan, Requirement, SQA plan, Prototype  Presentation Feb 27 Phase II February 18- April 6  Updated Vision document,project plan  Architecture design, Formal Requirement Specification,Test plan, Architecture prototype  Presentation April 6 Phase III March 30 – May 19  Coding, Testing, User manual, Project evaluation  Presentation May 19

12. Cost Estimation Function Point Analysis ParametersSimpleAvgComplexTotal InputSign on request Request to send messages. Request to start up/ shutdown links Set parameters 33333333 12 OutputSuccess or failure to sign on Success or failure to send messages. Success or failure to start up / shutdown links. Success or failure to set parameters. Distribute messages to all recipients 44444444 5 21 Total 33

13. Cost Estimation (cont.) FP = Unadjusted Function Points * (0.65 + 0.01 *  F i ) (where Fi are complexity adjustment factors) Complexity Adjustment FactorsValue Are data communications required5 Is the code designed to be reusable3 Total Complexity Adjustment Factors8 Therefore, total Adjusted Function Points is 33 * 0.73 = 24.09 Number of Lines of Code = 55(for Java) * 24.09 = 1325 or 1.325 KLOC

14. Cost Estimation (Cont.) COCOMO I model  Effort = 3.2 * (Size) 1.05  Effort = 3.2 * (1.325) 1.05  Effort = 4.3 person-months  Time = 2.5 * (Effort) 0.38  Time = 2.5 * 4.3 0.38  Time = 4.35 months

15. Architecture Elaboration Plan Update Vision document, project plan, cost estimation Architecture design  Class diagram  Sequence diagram Formal requirement specification  UML/OCL Implementation plan

16. Architecture Elaboration Plan (Cont.) Test plan Formal technical inspection  Class diagram  Esteban Guillen  Kevin Sung Executable Architecture Prototype

17. Software Quality Assurance Three phases – Presentation Formal Technical Inspection Unit testing Integration testing

18. Demonstration Point-to-Point communication  Server  Client Set delay time Shutdown link  Command java Client port-no delay-time [send/receive/both] Server 1 Client 1 Server 2 Client 2