SVG-моделирование управляемых систем тел

The new functionality of the SistemaTel software system (SS) has been described. An extensible markup language for three-dimensional vector graphics (X3D) for 3D modeling of controlled systems of bodies (ST) and scalar vector for 2D modeling of ST Graphics (SVG) have been used in this SS. A brief review of the SS of robots’ modeling using XML-oriented languages (URDF, SRDF, PLM) for marking the parameters of robots has been completed. The main difference between the SistemaTel and its analogues has been indicated. It depends on the fact that collisions are described as conditions for the transition from one ST structure to another one and are not intercepted in the process of graphical modeling, for example, as two-body collision events. An XsysTel language for marking ST has been proposed. It consists of the root node and nodes , . The nesting structure of the node declares the structure of the ST.The fields of the node expand its use to the description of the kinematic, static, and dynamic properties of ST. The node describes non-holding and dynamic bonds depending on the state and structure of the ST. Structural classification of the ST has been proposed. There distinguish ST with one Open Branch (STOB), ST with one Closed Branch (ST), Tree-like ST with Open Branches (TSTOB), Tree-like ST with open and closed Branches (with cycles) (TSTB) in the SistemaTel software system. Tree-like ST (TST) is a ST with the structure changing while the bodies’ moving. An example of the ST with a varying structure has been given. The transition conditions between structures can be geometric, kinematic and dynamic, for example, in the form of inequalities containing dynamic reactions in the joints of bodies. Examples of the XsysTel description of the ST in the plane (PST) have been given. An algorithm for XSLT conversion of the XsysTel description of the PST to the SVG-model of the PST has been developed.Описаны новые функциональные возможности программной системы (ПС) «СистемаТел», основанной на XML-технологиях, в которой для 3D-моделирования управляемых систем тел (СТ) используется расширяемый язык разметки трехмерной векторной графики (X3D). А для 2D-моделирования СТ используется скалярная векторная графика (SVG). Выполнен краткий обзор ПС моделирования роботов, использующих XML-ориентированные языки (URDF, SRDF, PLM) разметки параметров роботов. Указано на основное отличие ПС «СистемаТел» от ее аналогов. Оно связано с тем, что в ПС «СистемаТел» коллизии описываются как условия перехода от одной структуры СТ к другой, а не перехватываются в процессе графического моделирования, например, как события столкновения двух тел. Предложен язык XsysTel разметки СТ, состоящий из корневого узла и узлов , . Структура вложенности узла декларирует структуру СТ. Поля узла расширяют его использование до описания кинематических, статических и динамических свойств СТ. В узле описываются неудерживающие и динамические связи, зависящие от состояния и структуры СТ. Предложена структурная классификация СТ.В ПС «СистемаТел» различают СТ с одной Открытой Ветвью (СТОВ), СТ с одной замкнутой Ветвью (СТВ), Древовидную СТ с Открытыми Ветвями (ДСТОВ), Древовидную СТ с открытыми и замкнутыми Ветвями (с циклами) (ДСТВ). К ДСТ относится СТ, в которой структура меняется в процессе движения тел. Приведен пример СТ с изменяющейся структурой. Условия перехода между структурами могут быть геометрическими, кинематическими и динамическими, например, в виде неравенств, содержащих динамические реакции в сочленениях тел. Приведены примеры XsysTel-описания СТ на плоскости (ПСТ). Рассмотрена плоская СТОВ (ПСТОВ) и плоская ДСТ (ПДСТ) в виде моделей двуногого шагающего аппарата в одноопорной и двухопорной фазах ходьбы, а также в фазе полета. Разработан алгоритм XSLT-преобразования XsysTel-описания ПСТ в SVG-модель ПСТ

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team

Dynamic virtual reality user interface for teleoperation of heterogeneous robot teams

This research investigates the possibility to improve current teleoperation control for heterogeneous robot teams using modern Human-Computer Interaction (HCI) techniques such as Virtual Reality. It proposes a dynamic teleoperation Virtual Reality User Interface (VRUI) framework to improve the current approach to teleoperating heterogeneous robot teams