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Bibliography.bib
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......@@ -301,4 +301,9 @@
title ={Creating a document in LaTeX},
url = {https://www.tu-chemnitz.de/phil/english/sections/linguist/independent/kursmaterialien/TechComm/acchtml/class_ex.html}
}
}
\ No newline at end of file
@online{mas,
title ={CeTi Book},
url = {https://wwwpub.zih.tu-dresden.de/~scheuner/ad0bcdbfabcb688174b767fb01dec1a5d482ed/content/files/CeTI_Book_v18.pdf}
}
sections/conc.tex
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sections/eval.tex
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......@@ -16,16 +16,14 @@ basicstyle=\fontsize{10}{11}\selectfont\ttfamily
pandalink1 Position is x=0,y=0,z=0.333
pandalink2 Position is x=0,y=0,z=0.333
pandalink3 Position is x=-0.120566,y=-1.81861e05,z=0.625095
....
....//code continued
pandalink1 Orientation is w=1,x=0,y=0,z=7.54195e05
pandalink2 Orientation is w=0.693616,x=-0.693595,y=-0.137573,z=-0.137468
pandalink3 Orientation is w=0.980906,x=1.16121e05,y=-0.194483,z=8.93912e05
....
....//code continued
\end{lstlisting}
The robot was moved in Gazebo Simulator after a motion planning trajectory execution in Rviz motion planner.\\
The node was again built and run giving new values for position and orientation of joints.
The robot was moved in Gazebo Simulator after a motion planning trajectory execution in Rviz motion planner. The node was again built and run giving new values for position and orientation of joints.\\
\lstset {language=C++}
\lstset{
......@@ -35,16 +33,20 @@ basicstyle=\fontsize{11}{11}\selectfont\ttfamily
pandalink1 Position is x=0,y=0,z=0.333
pandalink2 Position is x=0,y=0,z=0.333
pandalink3 Position is x=-0.00290409,y=0.296506,z=0.442232
....
....//code continued
pandalink1 Orientation is w=0.703636,x=0,y=0,z=0.710561
pandalink2 Orientation is w=0.120731,x=-0.695508,y=-0.127549,z=0.696724
pandalink3 Orientation is w=0.443721,x=-0.314109, y=0.478016,z=0.68989
....
....//code continued
\end{lstlisting}
This show a changed set of values for position and orientation for all joints of Robot Franka Panda .
\section{World Model Test Implementation}
misc Test
The world model program implementation node constructed and explained in above section and known as \lstinline|robot_models_node|. This program need to be tested for some key points. For this another program called a node "worldsafety" is constructed. There are many tests done for this program which include various tests which are described in following sections.
Static tests
After this stage the program is once again built and run and this now displays the new changed values for robot joints position and orientation in Gazebo simulator. The results are then shared in evaluation section. More details about the tools and attributes they can handle are described below.
sections/imp.tex
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......@@ -4,7 +4,7 @@
This chapter describes about what has been done in this thesis to achieve the objectives. This implies all that is practically done and this includes programming the node using ROS packages eventually and using Latex tool. Also described here is the structure of both components of the project in steps.\\
The work involves creating a workspace directory in file system which in this case is known as \lstinline|panda_gazebo_workspace| and installing all necessary software like ROS. A folder named "src" is created within this workspace \lstinline|panda_gazebo_workspace|, which is then added with other essential repositories cloned as packages, the likes of which are known as \lstinline|franka_description , sample_applications and panda_simulation|. These are packages which are essential to building the workspace i.e. running the project and they are provided by Erdal and can be cloned / forked.\\
The work involves creating a workspace directory in file system which in this case is known as \lstinline|panda_gazebo_workspace| and installing all necessary software like ROS. A folder named "src" is created within this workspace \lstinline|panda_gazebo_workspace|, which is then added with other essential repositories cloned as packages, the likes of which are known as \lstinline|franka_description, sample_applications and panda_simulation|. These are packages which are essential to building the workspace i.e. running the project and they are provided by Erdal and can be cloned / forked.\\
Parallel to these packages, a new sub workspace is created, known as "zero" in this case, which contain variable part of workspace i.e. all the work that is added specific to constructing and running node programs in implementation step. The "zero" folder constructed here contains a launch folder which contain the launch files for launching the project from terminal and in parallel it contains another folder named "src" (not to be confused with "src" folder created before), which contains the node files constructed as programs for running implementation in this project. These files are known in this case as "\lstinline|robot_models_node|" for world model, "worldsafety" for all the test cases for world model and "safetytest" for safety model all having cpp file extension. In addition there also exist a CMakeLists file with a txt extension in the zero folder, which contains all configuration for successfully building the project.\\
......@@ -13,7 +13,7 @@ The workspace is then built using command "catkin build". This command runs the
This thesis work also introduces the concept of writing a thesis in the tool "Latex"~\cite{lat}. The tool was written by Leslie Lamport in 1980s and is now a freely downloadable tool for use.This is a plain text editor which has a host of features to write a thesis.
The user has option to use markup tagging conventions to define the general structure of a document which can be an article, book, or letter. The text can be set with different fonts and enables setting citations and cross-references. This thesis experimented with two versions of latex editors TexStudio and MikTeX and both were very easy to produce an output file in pdf format.
Latex starter repository was forked from Gitlab repository on to local machine. The repository was named as "thesis-template". This contained a structure of thesis plan, essentially a root ".tex" document known as "thesis.tex" which initializes and connects other files for different chapters. The editor TexStudio, lets users set a root document and let users visualize other files. Other files in thesis work were allocated to each of the chapter thus defining the structure of the thesis and they were contained in one folder. Common markups were used to write the text of thesis in Latex which include "\section{}", "\subsection{}" and many more like "\lstlisting[]" etc. Bibliography was set using "Biber" as this is the latest version for setting bibliography format, instead of the older version known as "Bibtex" or "BibLatex", and for this there is a separate file for bibliography identified with a ".bib" extension. The file structure has a root document and other documents which are included in the root document along with much more details in root document, and it links the other documents of chapters to the main root document. All documents have a ".tex" extension. When run, the Latex tool produces a .pdf file in the directory of thesis repository. This is how typical window in tool for Latex looks like.
Latex starter repository was forked from Gitlab repository on to local machine. The repository was named as "thesis-template". This contained a structure of thesis plan, essentially a root ".tex" document known as "thesis.tex" which initializes and connects other files for different chapters. The editor TexStudio, lets users set a root document and let users visualize other files. Other files in thesis work were allocated to each of the chapter thus defining the structure of the thesis and they were contained in one folder. Common markups were used to write the text of thesis in Latex which include \lstinline|\section{}", "\subsection{}| and many more. Bibliography was set using "Biber" as this is the latest version for setting bibliography format, instead of the older version known as "Bibtex" or "BibLatex", and for this there is a separate file for bibliography identified with a ".bib" extension. The file structure has a root document and other documents which are included in the root document along with much more details in root document, and it links the other documents of chapters to the main root document. All documents have a ".tex" extension. When run, the Latex tool produces a .pdf file in the directory of thesis repository. This is how typical window in tool for Latex looks like.
\begin{figure}
\centering
......@@ -23,72 +23,6 @@ Latex starter repository was forked from Gitlab repository on to local machine.
\end{figure}
Here is how a Latex root document looks like and short description for each section.
\begin{verbatim}
\usepackage[T1]{fontenc}
\usepackage[utf8]{inputenc}
\usepackage[english]{babel}
\usepackage{isodate}
\usepackage[
style=numeric-comp,
backend=biber,
url=false,
doi=false,
isbn=false,
hyperref,
]{biblatex}
\addbibresource{Bibliography.bib}
\AtEveryBibitem{%
\clearfield{note}%
}
\end{verbatim}
The document uses markup "\usepackage{}" to include different packages and lets user set various parameters for them like style, bibliography etc. There is large library of packages used to include in documents. Then begins the document details itself.
\begin{verbatim}
\faculty{Fakultat Informatik}
\department{}
\institute{Institut fur Software- und Multimediatechnik}
\chair{Lehrstuhl fur Softwaretechnologie}
\title{%
Design and Implementation of a Model-based Architecture for Cobotic Cells
\thesis{master}
\graduation[M.Sc.]{Master of Science}
\author{Nikhil Ambardar}
\emailaddress[]{nikhil.ambardar@tu-dresden.de}
\matriculationnumber{4667008}
\matriculationyear{2016}
\dateofbirth{05.11.1989}
\placeofbirth{Mumbai, India}
\course{Distributed Systems Engineering}
\supervisor{Dr. Example1 ,%
\\Dipl.-Inf. Example2 , and%
\and Dipl.-Inf.Example3%
}
\professor{Prof. Dr. rer. nat habil.Example}
\date{27.10.2020}
\end{verbatim}
This displays more information for adding to main document. Then begins the markups for title page, table of contents and input sections which demonstrate chapters included.
\begin{verbatim}
\maketitle
\newpage
\tableofcontents
\input{sections/intro}
\input{sections/motiv.tex}
\input{sections/back.tex}
\input{sections/soa.tex}
\input{sections/conc.tex}
\input{sections/imp.tex}
\input{sections/eval.tex}
\printbibliography[heading=bibintoc]\label{sec:bibliography}%
\confirmation
\end{verbatim}
This describes basic details of using Latex and demonstration of how a Latex root document looks and what it does.
\section{WORLD MODEL IMPLEMENTATION}
......@@ -141,7 +75,6 @@ worldobject o10;
...// code continued
\end{lstlisting}
This is an example of declaring objects for all the classes which are included into the main node file "\lstinline{robot_models_node.cpp}", using header files.
Here objects are defined which are later used to input values into variables defined in the classes.
......@@ -237,18 +170,12 @@ o5a.or2.z=transformStamped1.transform.rotation.z;
ROSINFOSTREAM("pandalink1 Orientation is"<<"w="<< o5a.or2.w<<",x="<<o5a.or2.x<<",
y="<<o5a.or2.y<<",z="<<o5a.or2.z);
...// code continued
\end{lstlisting}
\end{lstlisting}
Here in these steps, the object variables of the program take input the objects values from object transformStampedx and store them in the node program variable and which then outputs these values.\\
This program thus listens to values from simulation and displays using appropriate output statements. The robot in Gazebo is thus connected to Rviz motion planner using ROS which enables the node program \lstinline|robot_models_node.cpp|, to listen to desired values in this case position and orientation of joints .
\section{Test Cases Designed for World Model}
\section{Future Work Implementing Application Model Programmatically\\}
The thesis work i only completed up to implementing world model and safety model. The application model is left pending to be completed in future.
\ No newline at end of file
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thesis.bbl
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\field{title}{"Robotics : Modelling Planning and Control "}
\field{year}{2010}
\endentry
\entry{lat}{online}{}
\field{sortinit}{C}
\field{sortinithash}{4c244ceae61406cdc0cc2ce1cb1ff703}
\field{labeltitlesource}{title}
\field{title}{Creating a document in LaTeX}
\verb{urlraw}
\verb https://www.tu-chemnitz.de/phil/english/sections/linguist/independent/kursmaterialien/TechComm/acchtml/class_ex.html
\endverb
\verb{url}
\verb https://www.tu-chemnitz.de/phil/english/sections/linguist/independent/kursmaterialien/TechComm/acchtml/class_ex.html
\endverb
\endentry
\entry{c}{article}{}
\name{author}{2}{}{%
{{hash=8b512f75e8007c30a70007e6035fc806}{%
......
thesis.bcf
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<bcf:citekey order="49">re1</bcf:citekey>
<bcf:citekey order="50">re2</bcf:citekey>
<bcf:citekey order="51">lat</bcf:citekey>
</bcf:section>
<!-- SORTING TEMPLATES -->
<bcf:sortingtemplate name="nty">
<bcf:sort order="1">
<bcf:sortitem order="1">presort</bcf:sortitem>
</bcf:sort>
<bcf:sort order="2" final="1">
<bcf:sortitem order="1">sortkey</bcf:sortitem>
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<bcf:sort order="3">
<bcf:sortitem order="1">sortname</bcf:sortitem>
<bcf:sortitem order="2">author</bcf:sortitem>
<bcf:sortitem order="3">editor</bcf:sortitem>
<bcf:sortitem order="4">translator</bcf:sortitem>
<bcf:sortitem order="5">sorttitle</bcf:sortitem>
<bcf:sortitem order="6">title</bcf:sortitem>
</bcf:sort>
<bcf:sort order="4">
<bcf:sortitem order="1">sorttitle</bcf:sortitem>
<bcf:sortitem order="2">title</bcf:sortitem>
</bcf:sort>
<bcf:sort order="5">
<bcf:sortitem order="1">sortyear</bcf:sortitem>
<bcf:sortitem order="2">year</bcf:sortitem>
</bcf:sort>
<bcf:sort order="6">
<bcf:sortitem order="1">volume</bcf:sortitem>
<bcf:sortitem literal="1" order="2">0</bcf:sortitem>
</bcf:sort>
</bcf:sortingtemplate>
<!-- DATALISTS -->
<bcf:datalist section="0"
name="nty/global//global/global"
type="entry"
sortingtemplatename="nty"
sortingnamekeytemplatename="global"
labelprefix=""
uniquenametemplatename="global"
labelalphanametemplatename="global">
</bcf:datalist>
</bcf:controlfile>
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[0] Config.pm:312> INFO - This is Biber 2.15
[0] Config.pm:315> INFO - Logfile is 'thesis.blg'
[118] biber:330> INFO - === Di Nov 17, 2020, 00:39:53
[140] Biber.pm:415> INFO - Reading 'thesis.bcf'
[265] Biber.pm:952> INFO - Found 42 citekeys in bib section 0
[283] Biber.pm:4334> INFO - Processing section 0
[297] Biber.pm:4523> INFO - Looking for bibtex format file 'Bibliography.bib' for section 0
[300] bibtex.pm:1682> INFO - LaTeX decoding ...
[343] bibtex.pm:1494> INFO - Found BibTeX data source 'Bibliography.bib'
[347] Utils.pm:395> WARN - Duplicate entry key: 'gaz' in file 'Bibliography.bib', skipping ...
[793] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'normalization = NFD' with 'normalization = prenormalized'
[793] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'variable = shifted' with 'variable = non-ignorable'
[793] Biber.pm:4162> INFO - Sorting list 'nty/global//global/global' of type 'entry' with template 'nty' and locale 'en-US'
[793] Biber.pm:4168> INFO - No sort tailoring available for locale 'en-US'
[860] bbl.pm:651> INFO - Writing 'thesis.bbl' with encoding 'UTF-8'
[889] bbl.pm:754> INFO - Output to thesis.bbl
[889] Biber.pm:128> INFO - WARNINGS: 1
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<!ELEMENT input (file)+>
<!ELEMENT output (file)+>
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<!ELEMENT generic (#PCDATA)>
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thesis.toc
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\boolfalse {citerequest}\boolfalse {citetracker}\boolfalse {pagetracker}\boolfalse {backtracker}\relax
\babel@toc {english}{}
\babel@toc {english}{}
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {1}INTRODUCTION}{4}{chapter.1}%
\defcounter {refsection}{0}\relax
\contentsline {paragraph}{\nonumberline Objective Of Thesis:}{4}{paragraph*.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.1}Robots and Cobots}{4}{section.1.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.2}Components Of a Typical Robot}{6}{section.1.2}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.3}Uses And Applied Fields}{7}{section.1.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.1}Elderly Care}{7}{subsection.1.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.2}Medical Uses}{7}{subsection.1.3.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.3}Warehouse Operator}{7}{subsection.1.3.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.4}Food Home Delivery}{8}{subsection.1.3.4}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.5}Automotive Industry}{8}{subsection.1.3.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.4}Importance Of Robots In Today's Time}{8}{section.1.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.5}Expectations From Robots}{9}{section.1.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.6}Evolution - Robots to Cobots}{9}{section.1.6}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {2}INSPIRATION AND DRIVING FORCE}{10}{chapter.2}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {3}BACKGROUND}{12}{chapter.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.1}About Franka Emika Panda Robot}{12}{section.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.2}Robotics - Features}{13}{section.3.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.1}Sensitivity}{13}{subsection.3.2.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.2}Drive a.k.a Motion}{14}{subsection.3.2.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.3}Impedance}{14}{subsection.3.2.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.4}Collision Detection and Reaction}{14}{subsection.3.2.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.3}Software Tools Robot Franka Uses}{15}{section.3.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.4}Robotic Coexistence With Humans - Meaning Of Cobots}{15}{section.3.4}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.1}Existence Alongside Humans}{16}{subsection.3.4.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.2}Collaboration and Co-operation}{16}{subsection.3.4.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.3}Real-time and Presence Acknowledged Collaboration}{16}{subsection.3.4.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.5}Accidents Due To Malfunctions and Consequences}{16}{section.3.5}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.1}Mechanical Failure}{17}{subsection.3.5.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.2}Electrical Anomaly In Components}{17}{subsection.3.5.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.3}Malfunctioning Software}{17}{subsection.3.5.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.4}Human Operator Errors}{17}{subsection.3.5.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.6}Making Robots Safer And Safe Deployment Practices}{18}{section.3.6}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {4}STATE OF THE ART}{20}{chapter.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.1}Motion Planning And Simulations}{20}{section.4.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.2}Modeling - Explaining Choice of Design Depictions}{20}{section.4.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.1}Unified Modeling Language (UML) Diagram For World Model Class Diagram}{21}{subsection.4.2.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.2}Business Process Modeling Notation (BPMN) for Application Model}{22}{subsection.4.2.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.3}Unified Modeling Language State Machine for Safety Model}{24}{subsection.4.2.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.3}Tools Used}{26}{section.4.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.3.1}Setup Environment Using ROS To Run Services, Motion Planning In MOVEIT and GAZEBO For Simulations and more}{26}{subsection.4.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {5}CONCEPT}{32}{chapter.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.1}Theme}{32}{section.5.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.2}The Models Designed}{34}{section.5.2}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.3}Programming Of Hardware And Software Components - Purpose And Concepts}{37}{section.5.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.4}Refactoring and Reclassification}{38}{section.5.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.5}Connecting Everything - Simulations\\}{38}{section.5.5}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {6}IMPLEMENTATION}{39}{chapter.6}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.1}Introduction}{39}{section.6.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.2}WORLD MODEL IMPLEMENTATION}{40}{section.6.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {6.2.1}Programming - The Implementation Of World Model}{41}{subsection.6.2.1}%
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\contentsline {section}{\numberline {6.3}Future Work Implementing Application Model Programmatically\\}{44}{section.6.3}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {7}EVALUVATION}{45}{chapter.7}%
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\contentsline {subsection}{\numberline {7.0.1}World Model Implementation Results}{45}{subsection.7.0.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {7.1}World Model Test Implementation}{46}{section.7.1}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\nonumberline Bibliography}{47}{chapter*.25}%
\defcounter {refsection}{0}\relax
\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
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