A Formal Approach in Robot
Development Process using a UML Model
Authors：
Olarn Wongwirat
Tanachai Hanidthikul
Natee Vuthikulvanich
Faculty of Information Technology
King Mongkut’s Institute of Technology Ladkrabang
Bangkok, Thailand
Speaker ：陳明睿 M98G0105
2008 IEEE 10th Intl. Conf. on Control, Automation, Robotics and Vision
Hanoi, Vietnam, 17–20 December 2008
2016/7/13
1
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

2016/7/13
2
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
2016/7/13
3
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.
◦ …………
2016/7/13
4
Analysis and design phases using
UML
Use Case Diagram
light values
light values
Driving motors
speed and direction
light values
touch sensors
The system graphically for analyzing the entire relevant processes.
2016/7/13
5
Analysis and design phases using
UML
Activity Diagram
1.receives the signal
2.checks to verify the signal
normal field, ascent, and descent
2016/7/13
6
Analysis and design phases using
UML
Activity Diagram
Detect Start/End Points
Control Movement
(forward or backward…speeds)
2016/7/13
Detect BorderLine
7
Analysis and design phases using
UML
Activity Diagram
Detect Impediment
Dodge Obstacle
Check Past Direction Calculate New Path
2016/7/13
8
Analysis and design phases using
UML
Class Diagram
2016/7/13
9
Analysis and design phases using
Hardware design
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
2016/7/13
10
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
2016/7/13
11
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.
2016/7/13
12
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
2016/7/13
13
Implement and test phases

Final experiment
◦ combined the entire conditions from the three
experiments.
2016/7/13
The robot can move across the obstacles and
reach the end point
14
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.

2016/7/13
15