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5.1. SYSTEMSPECIFICATION
69
OverallSystemArchitecture andLifeCycleAnalysis
Thissectionpresentsthe preliminary designoftheoverallsystemarchitecture anddescribes
rst concepts ofselectedcomponents and d interfaces. . It t further species the life cycleof the
robotsystem.
OverallSystem Architecture
Figure5.3showstheconceptoftheoverallsystemarchitecturewiththemainrobotcomponents.
Itconsistsofembeddedcontrolsystems(embeddedPC,low-levelrobotcontrolmodules),power
supplies (battery system, , power r converters,chargingsystem),sensorsystems (visionsensors,
distancesensors,emergency-obuttons,collisionsensors),human-robotinterfaces(touchdis-
play,multimediaunit,robothead,signallights,RFID-reader),andthedrivesystem.Adetailed
descriptionofthearchitectureisgiveninSection5.2.
Charging
System
Embedded PC
Battery System /
Power Supply
Robot Control Modules
Collision
Sensor
Distance
Sensors
Touch Display /
Multimedia Unit
Drive System
Emergency-Off
Button
Vision
Sensors
Robot Head /
Signal Light
RFID-Reader
Interaction
Sensors
Control
Power Supply
Drive
Figure5.3: Overallsystemarchitectureoftheshoppingrobotplatform.Thisgurerepresents
afunctionalviewofarchitecture,independentofthelatertechnicalrealization.
Interface Overview
Theinterfacesrequiredbytherobotapplicationcanbeclassiedintotwogroups: thehuman-
robot interface,enabling the interactionbetweenusers or operators withtherobot;andthe
robotsupporting systeminterface,allowingthecommunicationbetweentherobot andother
systemstobroadentherobot’sfunctions.Thehuman-robotinteractionismainlyrealizedbythe
touchscreen,microphones,loudspeakers,andtherobothead,aswellastheRFIDreaderforad-
ministratoraccess.Usersfurtherprotfromabarcodescannertoreadoutprizinginformation.
Operatorscanuseanignitionkeytoturnonandotherobot.Lowlevelsystemparameterscan
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70
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
becheckedandadaptedusinganoptionalstatusdisplay. Mostofthefunctionalitiesprovided
byhighlevelsoftware shouldalsobe available by remote access totherobot usingWireless
LocalAreaNetwork(WLAN)toaccesstotherobot’sbehaviororinternalparameters. Thus,
servicepersonalcananalyzethestatusoftherobotandcheckforerrorsonline.
Asupportingsysteminterfaceisthecontroloftheautonomouschargingstation.Thisinterface
allowstherobottoturnonthechargingstation,whenreadytochargeandturnitoassoon
asthechargingprocessends. Furthersupportingsysteminterfacesdependontheoperational
environment.Examplesaretheremoteaccesstoanelevator,toautonomouslychangethe oor,
ortheaccesstoautomaticdoors.
System Life Cycle
Technologicalprogress,particularly intheelds of personalcomputing, , sensor r systems, , and
batterytechnologiessteadilyincreasesthedemandfornovelfunctionalitiesofthesystem. To
satisfycustomers,newdevelopmentprocesseshavetobeinitializedafterthenalizationofthe
rstsystem. Thisleadstoalifecycleoftherobotplatformofaboutthreeyears.
5.1.2 SpecicationoftheEvaluationProcess
Inordertopass adecisiongate,major taskoutputs ofa projectstage havetobeevaluated
and their r functionality conrmed. . Anevaluationspecication n provides instructions s andcri-
teriafor thetestingprocedureofeverymajortaskoutput. . Topass s thedecisiongate System
Specied,theevaluations for two task outputs havetobespecied: : rst,thefunctionaland
non-functionalrobotplatformrequirementsand,second,thecontentandstructureoftheoverall
systemspecication.
Theevaluationspecicationtoverifyfunctionalandnon-functionalrequirementsprovidesthe
systeminspectorwithinstructionsfortestingthefunctionalityoftherobotplatformandallsup-
portingdevices.Itcontainstestscenariosforthevericationofalldenedsystemrequirements.
Theevaluationprocesses arebasedonblack-box-tests,inwhichevaluationcases simulateex-
pectedsituations.Thefailuresforcedbythesetestsmustbereversible. Thetestenvironments
areorientedonthelaterusage. Forrealistictestscenarios,environmentsatthemanufacturers
andthecustomerssideareselected.
The following evaluationcase represents s a a simple example test scenario. . This s example was
chosen,becausethechargingsystemisin uencedbytheAHPdecisionprocess. Itillustrates
thatthespecicationofevaluationproceduresatthisdevelopmentstagemustfocusonrequired
functionariesindependentonspecictechnicalrealizations(asdescribedinChapter4.2.2). A
completedescriptionofallevaluationcasesisbeyondthescopeofthisdocument.
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5.1. SYSTEMSPECIFICATION
71
EvaluationCase: ChargingProcedures
Description: Theavailablerobotchargingsystemsaretested.
Environment: Researchlabatmanufacturer’sside.
Initial State: : Therobot t platform is readyforoperation. . AservicePCisconnectedtotherobotto
checkthestatusoftheinternalchargingmoduleandtheautonomouschargingstation.
Sequence:
 Connecttheinternalchargingsystemtolinepower.
 SetthemotorcontrollertothefreerunmodebyservicePC.
 Movetherobotplatformtoitsautonomouschargingstationbyhand.
 ActivatetheinternalchargingmodulewiththeservicePCtostartchargingbytheautonomous
chargingstation.
 Interruptchargingbyreplacingtherobot.
ExpectedResults:
 Robotstartschargingafterconnectingtolinepower.
 Robotiseasilymovableafterenablingthefreerunmodeofthemotorcontroller.
 Robotcanalsobechargedbytheautonomouschargingstation.
 Robotstopschargingbytheautonomouschargingstationassoonasamovementisdetectedby
themotorcontroller.
CoveredRequirements
1
: 1.3,1.4,1.8,2.1,2.2,4.6
Theevaluationproceduresoffunctionalrequirementsarecarriedoutattheendofthedevel-
opmentprocess(Section5.6). Non-functionalrequirementsasaspectsofquality,performance,
service,andmaintenanceareconsideredduringthedevelopmentprocess,however,theverica-
tionprocessoftheserequirementsispartofthedecisiongateAcceptance Completed,whichis
notinthefocusofthisthesis.
Theevaluationspecicationfortheoverallsystemspecicationisbasedonalternativequestions:
ayesanswerindicatesthepassingofacriterion;anoanswerrequirestherevisionofthistopic.
Formalcriteria,e.g.,questionsaboutdocumentdesign,orthography,ordirectorystructureare
only relevantincaseofaseparatespecicationdocument. . Theaspectstobecoveredbythis
evaluationspecicationcanbefoundintheV-Modeldocumentation.
1
Requirementsasdenedintherequirementlists(Section5.1.1).
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72
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
5.1.3 EvaluationofAHPCriteriafortheShoppingRobotApplication
Atthisstage,theevaluationprocessofthedecisioncriteriafortheinteractiveshoppingrobot
canbecarriedoutbasedonthedenedfunctionalandnon-functionalsystemrequirements:
Adaptability (A): : Therobotsystemwillbeprimarilydevelopedforshoppingandguidance
applications. The e transfer of this platformin other operationareas (e.g., industry,re-
search)shouldbeeasilypossiblebasedonthegivensystemcharacteristicsofashopping
robot(e.g.,theindooroperationarea). Therefore,the e criterionAdaptability isofsmall
relevanceforthedevelopmentprocess.
OperationTime(O): The e operationtimeofthe robot withonebattery charge shouldbe
atleast eighthours. . Acontinuousavailabilityoverthewholeopeningperiodofastore
is not mandatory. . Based d on prior r estimations of the battery capacity and d the e power
consumptionof(adequate) systemcomponents,it isassumedthatthisrequirementcan
befullled by y areliabledevelopment process. . Specialeorts s duringthesystemdesign
processseemnottoberequired. Consequently,thesatisfactionofthiscriterionisoflow
priority.ItisweightedtobeweaklylessimportantthanAdaptability.
Usability(U): Theusabilityoftherobotis s necessaryfor thesuccess oftheshoppingrobot
application.Itmustbeconsideredthatcustomersinstoresarenotfamiliarwiththeusage
ofrobotsystems. Additionally,agoodoperabilitybythestore’s s employees shouldalso
betakenintoaccount. TheUsability y isweightedtobeessentiallymoreimportantthan
AdaptabilityandOperationTime.
Robustness(R): Theasperityoftheoperationarea(e.g.,smallbumps,tilejoints)andthe
interactionwithpersons (i.e.,children)requireahighrobustness ofthesystem. . Alow
systemfailurerateisaspired. ThiscriterionisevaluatedasequalimportantasUsability
andessentiallymoreimportantthanAdaptabilityandUsability.
Safeness(S): Therobotsystemmustguaranteeabsolutesafetyforpeople. Thedevelopment
process has s to be carried d out under r the e consideration n of f an n adequate e safety concept.
Preferably,sensorsystemscomplyingwithsafetystandardsshouldbeintegrated. These
precautionsareespeciallyimportant,becauseoftheusageinpublicareas. Thiscriterion
wasweightedtobe essentiallymoreimportant thanAdaptability,Operation Time,and
Usability.ItisfurtherweaklymoreimportantthanRobustness.
Features(F): Thiscriterionisconsidered,ifarobotisplannedtobeusedforfurtherdevelop-
mentsandapplications. Fortherealizationoftheshoppingrobotapplication,integrated
features thatgobeyondthe systemrequirementsarenotofrelevance. . Thiscriterionis
weightedtobeequalimportantasAdaptability.
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5.1. SYSTEMSPECIFICATION
73
Costs(C): Therobotshouldbedesignedunderaspectsofproductionandservicecosts.Thisis
essentialformarketingandawidedistributionofthissystem.Acceptablecostsforastore
dependonthebenetoftherobot system. . This s criterionis weightedto beessentially
more important t than n Adaptability, Operation n Time, , and Features; ; and d essentially less
importantthanUsability andSafeness. ItisequallyimportantasRobustness.
TheresultsofthepairwisecomparisonsandthecalculatedweightsarepresentedinTables5.5.
Table 5.5: : Criteriaevaluationmatrix x of the shoppingrobot platform. . It t shows the pair-
wise comparisonresults of the criteriaandthecalculatedweightsbasedontheequations of
Chapter4. TheConsistencyRation(C.R.)showsthesucientconsistencyofthismatrix.
A
O
U
R
S
F
C
Weights
C.R.
A
1/1
3/1
1/3
1/3
1/5
1/1
1/3
6.7%
0.061
O
1/3
1/1
1/3
1/3
1/5
1/3
1/3
4.2%
U
3/1
3/1
1/1
1/1
1/5
3/1
3/1
17.0%
R
3/1
3/1
1/1
1/1
1/3
3/1
1/1
14.6%
S
5/1
5/1
5/1
3/1
1/1
5/1
3/1
37.4%
F
1/1
3/1
1/3
1/3
1/5
1/1
1/3
6.7%
C
3/1
3/1
1/3
1/1
1/3
3/1
1/1
13.4%
Fortheillustrationandcomparisonofevaluationprocessoutcomes,chartdiagramscanbeused.
Figure5.4presentsthecriteriaweightsfortheshoppingrobotplatform.
Adaptability (A)
Operating Time (O)
Usability (U)
Robustness (R)
Safeness (S)
Costs (C)
Features (F)
0%
10%
20%
30%
40%
Figure5.4: Criteriachartfortheshoppingrobotplatformrepresentingthecalculatedcriteria
weightsofTable5.5.
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74
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
5.2 SystemDesign
Thissectiondescribestherobotdesignprocessatthehierarchicallevelsofsystems,subsystems,
and segments. . (Figure e 5.5). . The e identiedsystemarchitecture ispresentedandthe system
decompositionprocessiscarriedout.
TopassthedecisiongateSystemDesigned,subsystemsandsegmentshavetobespecied.This
chapterdenesthecharacteristicsofidentiedsubsystemsandsegmentsandhighlightstheAHP
designdecisions. Thespecicationof f segmentscontainingthesystemoverview,theinterface
specication,non-functionalrequirements,andanevaluationspecicationisnotincludedinthis
chapter,becauseofthegivensystemcomplexityattheselevelsandthefocus ofthis workon
theprincipledevelopmentcourse. Adetaileddescriptionoftherequirementsofthesubsystem
andsegmentspecicationscanbefoundintheV-Modeldocumentation.
5.2.1 SystemArchitecture
Anappropriatesystemarchitecturehastobechosenfortherobotplatformtoallowforthere-
alizationofallfunctionalandnon-functionalrequirements.Theweightedsystemarchitectures,
presentedinChapter4.2.2,arerankedaccordingtotheweightedcriteriafortheshoppingrobot.
TheresultingprioritiesforthedescribedsystemarchitecturesarepresentedinTable5.6.
Table5.6: Decisionresultsforthesystemarchitectures.
A
O
U
R
S
F
C
Priority
Rank
Impact
6.7%
4.2%
17.0%
14.6%
37.4%
6.7%
13.4%
A1
12.5%
36.4%
25.0%
5.4%
5.7%
8.3%
43.4%
15.9%
4
A2
12.5%
36.4%
25.0%
14.6%
26.3%
8.3%
43.4%
25.0%
2
A3
12.5%
6.6%
25.0%
23.7%
12.2%
41.7%
4.0%
16.7%
3
A4
62.5%
20.7%
25.0%
56.3%
55.8%
41.7%
9.2%
42.4%
1
TheAHPprioritizationresultsrevealthatthesystemarchitectureA4(Figure4.5)fulllsthe
weightedcriteria best. . This s architecture, , composed bya main controlunit t (embeddedPC)
andseveraldecomposedcontrolmodules,providesahighrobustness andsafeness,becauseof
theredundancyofsystemfunctionalities[MertenandGross,2008].Thesecriteriawerecrucial
factorsforthechoiceofthisarchitecture. Thehighersystemcostsandthereducedoperation
time,causedbythesystemmodularity,hadminorin uencesonthedecisionresults.
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5.2. SYSTEMDESIGN
75
5.2.2 SystemDecomposition
Thesystemdecompositionisahierarchicalprocess,whichsuccessivelybreaksdownthesystem
into lower abstraction levels. . This s process s starts s with h the segmentation of f the e system into
subsystems thatconstitutethemainfunctionalelementsof the wholesystem. . The e following
stepisthedecompositionofthesubsystemsintosegments,whichrepresentfunctionalgroups.
Segments usually compose e modules s with similar functionalities s or physical l locations in the
system. The e nalstepis s the e breakdownof segments intounits. . Every y unit covers aset of
functionalitiesandcanbeclassiedassoftwareunits,hardwareunits,embeddedsystemunits,
orexternalunits,whereasexternalunitsarethepurchasedpartsofthesystem.
Inthefollowing,thedecompositionprocessoftheshoppingrobotisdescribed,focusingonsub-
system,segment,andunitlevels(Figure5.5).Afurtherdecompositionofunitsintocomponents
isdescribedinSection5.3.
Segment / Unit Level
System
System Level
Subsystems
Segments
Embedded System Units
Hardware Units
Component Level
Software Components
Hardware Components
External Components
External Units
Hardware Components
Functional View
Physical View
Elemental View
Figure5.5: Systemarchitecturehierarchyoftherobotsystem.
DecompositionoftheSystemintoSubsystems
Figure 5.6 shows the decomposed system of the robot t platform. . The e mobile robot system
requires theControl Subsystem m for r thecontrolandmonitoring ofthe robot’s functionalities,
thePowerSupplySubsystem fortheprovisionofthesystemenergyandtherechargingofthe
energystorage,theDriveSubsystemforthemovementoftherobot,theSensorSubsystemfor
76
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
Robot System
Control
Subsystem
Interaction
Subsystem
Power Supply
Subsystem
Sensor
Subsystem
Drive
Subsystem
Figure5.6: Decompositionoftherobotsystemintosubsystems.
theanalysisoftherobot’senvironment,andtheInteractionSubsystemforthecommunication
withusersandoperators.
DecompositionofSubsystemstoSegments
Thesecondstepisthebreakdownoftheidentiedsubsystemsintosegments. Thesesegments
associatedwiththerelatedsubsystemsfortherobotplatformaredepictedinFigure5.7.
ControlSubsystem
Highlevelalgorithmsfornavigation,localization,orhuman-machineinteractionarecomputed
ontheMainControlSegment,whichisrealizedbyanembeddedPC. Theadvantagesarethe
highcomputationalpower,thestorageoflargedatasets,anda exibleadaptationofsoftware
functionalities. However,thissystemneedsahighamountofenergytoprocessallinformation.
Thus,apowerconsumptionoptimizedPCisintegrated.
To account for an optimal realization of real-time tasks anddetermined reactiontimes, the
ControlSubsystemincludesaControlModuleSegment thatisoptimizedforreal-timelow-level
control.Thissegmentconsistsofsmallmodulesforthecontrolofothersegments. Forexample,
amotorcontrollerforthestimulationoftheDriveMotorSegment,orasensormoduleforthe
dataexchangewiththeDistanceSensorSegment ortheMotionSensorSegement.
PowerSupplySubsystem
This subsystem contains the Battery y System m Segment, , including g the e robot’s battery and d a
module, which h is s mainly responsible for battery monitoring; ; as well as the e Charger r System
Segment,includingtechnicalsystemsforthebatterychargingprocess. Therealizationsofboth
segmentsareaectedbydesigndecisionsthatwerecarriedoutbasedontheAHP.
5.2. SYSTEMDESIGN
77
Power Supply Subsystem
Robot Head
Segment
Display/Multimedia
Segment
Low-Level Interaction
Segment
Control Subsystem
Main Control
Segment
Control Modules
Segment
Battery System
Segment
Charger System
Segment
Interaction Subsystem
Vision Sensor
Segment
Distance Sensor
Segment
Motion Sensor
Segment
Sensor Subsystem
Drive Subsystem
Drive Motor 
Segment
Figure5.7: Decompositionofsubsystemstosegments
At the beginningof the shopping robot development process, , the only y battery technologies,
whichcameintoquestion,werelead-acidandNi-MHbatteries. Thelead-acidbatterywitha
nominalvoltage of 24.0Vanda nominalcapacity of 42.0Ahwas integrated, because of the
higherenergydensityandthelowercosts(seeTable4.4).
Table5.7: Decisionresultsforthebatterysystems.
A
O
U
R
S
F
C
Priority
Rank
Impact
6.7%
4.2%
17.0%
14.6%
37.4%
6.7%
13.4%
B1
14.8%
14.8%
25.0%
25.0%
25.0%
14.8%
29.4%
23.8%
3
B2
9.0%
9.0%
25.0%
25.0%
25.0%
9.0%
8.4%
19.9%
4
B3
54.6%
54.6%
25.0%
25.0%
25.0%
54.6%
14.4%
28.8%
1
B4
21.6%
21.6%
25.0%
25.0%
25.0%
21.6%
47.8%
27.5%
2
Inanadditionaldevelopmentcycle(afterthenishingoftheSerRoKonprojects),novellithium
batterytechnologieswereavailable. Atthisstage,theAHPwasusedtoevaluatethenowfour
possiblealternatives(describedinChapter4.2.2).Table5.7presentstheresultsofthisdecision
process.Alithium-polymerbatterybasedonLiCoO
2
cells(alternativeB3)wasselectedasmost
suitablefortheshoppingrobotapplication. Thebatteryconguration,usedfortheevaluation
process,consistedof56cells(seveninseries,eightinparallel)andprovidedanominalvoltage
78
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
of 25.9Vandanominalcapacityof80.0Ah. . The e advantageofthisbattery typeis thevery
highenergydensityincomparisonwiththeotherbatterytypes. Themaindisadvantageisthe
prize.
Similartolithiumbatteries,inductivechargingtechnologieswerenotavailableduringthede-
velopmentprocessoftheshoppingrobotintheSerRoKonprojects. Initially,theAHPprocess
wascarriedoutwiththealternativesC1toC4leadingtotheranking:C2(29.4%),C1(25.2%),
C4(24.8%),andC3(20.6%).Therefore,thechargingsystemC2wasintegratedintotherobot.
Thissystemconsistsofanautonomouschargingstationwithintegratedpowerconverter,which
providesextra-lowvoltageforthechargingoftherobot,andamanualchargingmodebasedon
linevoltage.TherealizationofthechargingsystemC2ispresentedintheprojectstageSystem
Integration(Section5.5).
After inductivechargingtechnologieswereavailable,theAHPprocesswasrepeatedbasedon
allalternatives.Table5.8showstheresultsofthisprocessandrevealsthatthechargingsystem
C6(aninductivechargingsystemincombinationwithalinevoltagemanualchargingmode)
ismostapplicabletotheshoppingrobotapplication. Thischargingsystemwillbeintegrated
intotheshoppingrobotplatformin2012.
Table5.8: Decisionresultsforthechargingsystems.
A
O
U
R
S
F
C
Priority
Rank
Impact
6.7%
4.2%
17.0%
14.6%
37.4%
6.7%
13.4%
C1
16.7%
7.1%
8.3%
7.1%
13.0%
16.7%
10.0%
11.2%
6
C2
16.7%
7.1%
25.0%
7.1%
13.0%
16.7%
10.0%
14.0%
4
C3
16.7%
35.7%
8.3%
7.1%
5.3%
16.7%
30.0%
12.2%
5
C4
16.7%
35.7%
25.0%
7.1%
5.3%
16.7%
30.0%
15.0%
3
C5
16.7%
7.1%
8.3%
35.7%
31.7%
16.7%
10.0%
22.3%
2
C6
16.7%
7.1%
25.0%
35.7%
31.7%
16.7%
10.0%
25.2%
1
TheresultsofTable5.8discloseadisadvantageoftheAHP:Therankingofalternativesmight
change,whenalternativesareaddedtoorremovedfromtheAHPdecisionprocess. Thiseect
isfurtherdiscussedinChapter7.
Drive Subsystem
TheDrive Motor Segment, theonlyelementin this s subsystem, , determines s thedrive system
(wheel conguration, , platform m footprint) of the e robot. . The e decision n on an n adequate drive
conceptisbasedontheAHP(resultssummarizedinTable5.9).
Documents you may be interested
Documents you may be interested