diff --git a/Bibliography.bib b/Bibliography.bib
index 96ffd777bb477d4c9896301189c5e4bbaeac60ad..a09ef363a3f191274ba7ac32888193776714d780 100644
--- a/Bibliography.bib
+++ b/Bibliography.bib
@@ -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}
+ }
+
+
diff --git a/sections/conc.tex b/sections/conc.tex
index 8759018056b606aa49660914c66b470f2b5f781e..6457f967f759e32e6b7d027a5f2869ac54d47a44 100644
--- a/sections/conc.tex
+++ b/sections/conc.tex
@@ -2,14 +2,7 @@
\section{Theme}
-The real world consist of robot Franka Emika Panda present. The robot has an arm having seven joints. There are one or more humans in proximity, along with one or more obstacles which are also present in the proximity in a real world. The base of robot is fixed and the arm is moving and there is a gripper which need to pickup and release an object to complete a job. The robot has to be programmed to move and not just move the arm but do this safely and i.e. by detecting obstacles / humans around the robot continuously and responding appropriately by evading the obstacles to reach final position and complete the job. There can be other jobs like piercing a balloon ball as depicted in the fig 5.1.\\
-
-\begin{figure}
-\centering
-\includegraphics[width=0.8\linewidth]{../../bras-robotique-choisir-comparaison}
-\caption{Another Image of Robot Franka Emika Panda Image Source : Panda Skills Sensitivity Video Screenshot}
-\label{fig:bras-robotique-choisir-comparaison}
-\end{figure}
+This section defines all the concepts associated, discovered and learned with the work of this thesis. The main idea begins as described as a real world with a robot present.The real world consist of robot Franka Emika Panda present. The robot has an arm having seven joints. There can be one or more humans present in proximity, along with one or more obstacles which are also present in the proximity in real world. The base of robot is fixed and the arm is capable of motion and there is a gripper at the tip of arm, which need to pickup and then release an object to complete a job. The robot has to be programmed to move and not just move the arm but do this safely i.e. by detecting obstacles / humans around the robot continuously and responding appropriately, by evading the obstacles to reach final position and thus complete the pickup and release job. There can be other jobs like piercing a balloon ball as depicted in the Fig 5.1.
\begin{figure}
\centering
@@ -18,19 +11,28 @@ The real world consist of robot Franka Emika Panda present. The robot has an arm
\label{fig:mzixndu3na}
\end{figure}
-To start with a hypothetical situation to explain, the robot uses a motion planner software to follow a preconceived plan and that is to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. This is shown in fig 5.2. So far this plan is only about doing the task, but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion. The activity until this point can be used to train the robot and this motion trajectory job can be re-executed by the robot using the inbuilt teaching capability feature of robot but then a real world feature is added to robot and this is about adding essential safety feature. This is achieved by altering the planned trajectory right at that time instant when sensors detect obstacle in the path. At this time robot moves around the obstacle to reach a coordinate position around the obstacle to a point in pre-decided motion trajectory and then continue regular motion from there on-wards to complete the motion in plan. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be~\cite{4}(Chapter1,Chapter4).\\
+This section starts with a hypothetical situation to explain the need for models and the concepts associated with implementation. The robot uses a motion planner software to follow a preconceived plan which is visualized and that is to move arm and pickup an object and then move arm again according to already planned motion trajectory and release the object at a desired location thus completing the task. Image describes this as shown in Fig 5.1. So far this plan is only about doing the task, but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion.\\
+
+The activity until this point can be used to train the robot and this motion trajectory job can be re-executed by the robot using the inbuilt teaching capability feature of robot which lets the robot learn a series of pose and actions and replicate the same trajectory and grasp actions, but then a real world feature is added to robot and this is about adding essential safety feature. This safety is achieved by altering the planned trajectory right at that time instant when sensors detect obstacle in the path of robot. At this time, robot uses a new trajectory to move its arm around the obstacle, to reach a coordinate position around the obstacle to a point in pre-decided and followed motion trajectory and then continue regular motion from there on-wards to complete the motion and task. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life or not and to see how successful it can be~\cite{4} (Chapter1,Chapter4).\\
+
+This is a model where human / object - robot interaction operation is depicted, as shown in Fig 5.2.
-This is a model where human / object - robot interaction operation is depicted as a layman as shown in images.
+\begin{figure}
+ \centering
+ \includegraphics[width=1.0\linewidth]{../../bras-robotique-choisir-comparaison}
+ \caption{Another Image of Robot Franka Emika Panda Image Source : Panda Skills Sensitivity Video Screenshot}
+ \label{fig:bras-robotique-choisir-comparaison}
+\end{figure}
\section{The Models Designed}
-Tasks in thesis work are to design three models namely world model, application model and safety model using modeling tools and implement them in a C++ program.
+Tasks in thesis work are to design three models namely world model, application model and safety model using modeling tools and implement them in a C++ program. This sections begins with describing each of these three models.
\begin{enumerate}[label=(\Alph*)]
-\item WORLD MODEL\\
+\item WORLD MODEL USING UML\\
-The world model describes the world of robot Panda in general i.e. about what is inside the surroundings of the robot apart from the robot itself and then features and attributes of all components in world model. In technical terms this is the world of the robot that exists in real world and components in this world are the robot FEP itself with its arm, the object like a human and a cube or ball which can act as obstacle or an object that can be picked up by the robot arm.\\
+The world model describes the world of robot Panda in general i.e. about what is inside the surroundings of the robot apart from the robot itself and then features and attributes of all components in this world model. In technical terms this is the world of the robot that exists in real world and components in this real world are the robot FEP itself with its arm, the obstacle like a human or an object and a cube or ball which can act as an object, that can be picked up by the robot arm. Fig. 5.3 and 5.4 shows the designed World Model class and object diagram respectively. These were designed using UML diagrams. \\
\begin{figure}
\centering
@@ -39,7 +41,7 @@ The world model describes the world of robot Panda in general i.e. about what is
\label{fig:app2}
\end{figure}
-Unified Modeling Language (UML) for class and object diagrams were constructed for world model using the web tool Online Visual Paradigm as shown in Fig 5.3 and 5.4. The UML class model is used to derive the objects and depict in the UML object model diagram~\cite{17}.\\
+Unified Modeling Language (UML) class and object diagrams were constructed for world model using the web tool named Online Visual Paradigm. The UML class model is used to derive the objects and depict in the UML object model diagram~\cite{17}.\\
\begin{figure}
\centering
@@ -48,14 +50,13 @@ Unified Modeling Language (UML) for class and object diagrams were constructed f
\label{fig:app3}
\end{figure}
-This world model class diagram has been designed to contain ten classes. The main parent classes are World Object and World, present on top most level. The classes Robot and Abstract Object inherit from one class and at same time are aggregated with another class. Relation of association and aggregation is used where classes need to use data variable from other classes and if class variable must depend on other class variables for it to exist respectively.
-Specifically this means, aggregation relation is used in a case where if the class is not involved, its child classes cannot be used. Association relation is used where one class is related to another just to be able to use other's variables. Both relations use pointers in program implementation in C++.
+This world model class diagram has been designed to contain ten classes. The main parent classes are World Object and World, present on top most level. The classes Robot and Abstract Object inherit from one class and at same time are aggregated with another class. Relation of association and aggregation, is used where classes need to use data variable from other classes and in cases if class variable must depend on other class variables for it to exist, respectively. \\
+
+Specifically this means, aggregation relation is used in a case where if the class is not involved or used, its child classes and their variables cannot be instantiated or used. Association relation is used where one class is related to another just to be able to use the other's variables. Both relations use pointers in program implementation in C++.
\item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\
-Business Process Modeling Notation(BPMN) for application model using Modelio\footnote{https://www.modelio.org/} tool was chosen for application model. Depicted in Figure 4.3~\cite{18}.\\
-
-BPM notation was deemed to be a correct choice to show application process workflows as this shows segregated cells called frames for all the entities present and this depicts each component in the world model diagram. The notation then allows to depict the relationship and connections between these components and shows their flow which have a comprehensive and logical consistency among cells. This is achieved using features of BPMN like activity, gateways and events. It uses start and end event states to mark positions for start and end and then “if” conditions are used as flow lines with process events and intermediate events to construct application model.\\
+Business Process Modeling Notation(BPMN) for application model using Modelio tool\footnote{https://www.modelio.org/}, was chosen for application model. The designed application model is depicted in Figure 5.5~\cite{18}.\\
\begin{figure}
\centering
@@ -64,9 +65,11 @@ BPM notation was deemed to be a correct choice to show application process workf
\label{fig:app}
\end{figure}
+BPM notation was deemed to be a correct choice to show application process workflows as this shows segregated cells, called frames for all the entities present and this depicts each component of the world model diagram. The notation then allows to depict the relationship and connections between the logical components of the frames and shows their flow which have a comprehensive and logical consistency among cells. This is achieved using features of BPMN like activity, gateways and events which form as logical components. It uses start and end event states to mark positions for start and end and then “if” conditions are used as flow lines with process events and intermediate events to construct application model.\\
+
\item SAFETY MODEL DEPICTION USING UML STATE MACHINE \\
-UML State Machines are used to construct safety model. They are an extended version of UML finite state machine. The fig 5.5 shows the safety model.
+UML State Machines are used to construct safety model. They are an extended version of UML finite state machine. The Fig 5.6 shows the safety model constructed using the tool Modelio.
\begin{figure}
\centering
@@ -75,20 +78,19 @@ UML State Machines are used to construct safety model. They are an extended vers
\label{fig:app4}
\end{figure}
-The start and end events denote the process starting and end states. The state machine can at any point in time be only present in one state. The robot motion begins at point start event. The transition T1 is about human presence and activity of human presence is marked assuming there is already a human present detected in the proximity. The robot motion had started but now MoveIT is requested to provide a new motion plan around the human obstacle, marked by transition T3 and once a new trajectory is obtained the motion start continuation around the human and once again robot reaches a point in original motion plan and then it keeps checking for human presence, if detected by sensors during the continuing motion plan. If the human is detected then once again new MoveIT trajectory is requested around the human and the loops keeps running to check for human presence until a state is reached where human is absent. Once a human absent state is achieved the original motion is proceeded to be completed and marked by final transition T2 proceeding to the end event finally. \\
+The start and end events denote, the process starting and end states. The state machine can, at any point in time be only present in one state. The robot motion begins at point of start event. The transition T1 is about human presence and activity of human presence is marked, assuming there is already a human present detected in the proximity. The robot motion had started but now MoveIT is requested to provide a new motion plan around the human obstacle, this is marked by transition T3 and once a new trajectory is obtained the motion starts continuation around the human and once again robot reaches a point in original motion plan and then it keeps checking for human presence and this is marked using if condition "Detect Human", and if detected by sensors during the continuing motion plan. If the human is detected then once again new MoveIT trajectory is requested around the human and the loops keeps running to check for human presence until a state is reached where human is absent and arm moved to a position around the obstacle at a point where it can begin original motion plan. Once at this point, human absent state is achieved the original motion is proceeded to be completed and marked by final transition T2 proceeding to the end event finally. \\
This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system~\cite{18}.\\
There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. The work has built the robot with improved technology and making the robot understanding safety i.e by making them softer in operation when operating, to prevent any physical collisions by embedding injury knowledge into controls like emergency stop. These efforts also result in using reduced force when in human proximity and other efforts are to make robot surfaces softer and for this extensive testing has been done on injuring pig skin to study effects of injuries that can be caused by robots~\cite{19}.\\
-A safety model diagram using UML state chart is shown. This was designed in Modelio tool and uses small components from BPMN.
\end{enumerate}
\section{Programming Of Hardware And Software Components - Purpose And Concepts}
-In hardware, we have the Franka robot which has a arm and the arm has joints described by J1...n . We also then have other objects in the world namely obstacles which can be one or more human and then non living ones like a cube ,box or ball. Then we have grasp objects which can be a cube or an item to pick.\\
+In hardware, there exists the Franka robot which has an arm and the arm has joints described by J1...J7 . We also then have other objects in the world namely obstacles, which can be one or more human and then non living ones like a cube ,box or ball. In addition there are grasp objects which can be a cube or an item to pick.\\
-The robot Panda has motion planning attributes which can be altered. Most of them are in MoveIT which is the GUI described in detail in the previous chapter. The state of robot arm is described by the coordinate position of joints of the arm. We can as well alter the many other parameters like torque on the arm in simulations.The Figure 5.6 shows the robot panda with joints .\\
+The robot Panda has motion planning attributes which can be altered. Most of them are in MoveIT which is the motion planner tool described in detail in the last chapter. The state of robot arm is described by the coordinate position of last joint of the arm i.e. J7. We can as well alter the many other parameters like torque on the arm in simulations. The Figure 5.7 shows the robot panda with joints .\\
\begin{figure}
\centering
@@ -97,18 +99,17 @@ The robot Panda has motion planning attributes which can be altered. Most of the
\label{fig:media16616680da7-1c13-47f9-83f0-e777befaf95dphpjvxsn3}
\end{figure}
-In the Software section ROS~\cite{ro} \footnote{https://www.ros.org/} is used which is the Robot Operating System and catkin which builds the workspace. ROS is started using "roscore" command in terminal to start the ROS. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. All the plans are then run in real life simulator for which Gazebo Simulation was used, which is used to replicate real life conditions and run robot inside it. This gives an idea if the robot can perform as planned and expected in real life with torque on joints.To use MoveIT, workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are frankaros , pandamoveITconfig and pandasimulation and they are imperative to build the workspace.
-Apart from the above mentioned software which the work of this thesis uses there are several essential repositories provided to users by Erdal which run the Franka robotic framework on user machine. These were as well used to run on top of Robot Operating Systems (ROS) to run the robot Franka. These repositories are namely, \lstinline|franks_ros, panda_simulation ,panda_moveit_config|. The basic idea of robot Panda package which is made up of all the above mentioned tools and software is to execute a real time bidirectional connection between a workstation PC and the arm of the robot~\cite{gaz}.\\
+In the Software section ROS~\cite{ro} \footnote{https://www.ros.org/} is used which is the Robot Operating System and catkin builds the workspace. ROS is started using "roscore" command in terminal and this starts the ROS on local machine. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. The plan in MoveIT is then run in a simulator for which Gazebo Simulator was used, which is used to replicate real life conditions and run robot inside it. This gives an idea if the robot can perform as planned and expected in real life with torque on joints or other real world like conditions. To use MoveIT, workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are \lstinline|franka_ros , panda_moveit_config and panda_simulation|, and they are imperative to build the workspace which contains the node program designed. These are the repositories used to build the package and thus run the program using ROS. The basic idea of robot Panda package which is made up of all the above mentioned tools and software is to execute a real time bidirectional connection between a workstation PC and the arm of the robot shown in simulator~\cite{gaz}.\\
\section{Refactoring and Reclassification}
-The work of this thesis needs the implementation of the concept of refactoring and reclassification of code. The code created for the project in the implementation stage has gone through many phases of construction. These phases are classified as stages, in these phases code has developed in quality and complexity. The plan with which code construction had started, was changed and many amendments made for this, in addition to many extensions in the plan. This made the code very difficult to understand at some places. Corrective actions were taken which include refactoring and reclassification of project code. This is a concept of restructuring existing computer code while keeping the behavior and functionality of the code as it is.
+The work of this thesis needs the implementation of the concept of refactoring and reclassification of code created. The code created for the project in the implementation stage has gone through many phases of construction. These phases are classified as stages, in these stages code has developed in quality and complexity. The plan with which code construction had started, was changed and many amendments made for this, in addition to many extensions in the plan. This made the code very difficult to understand at some places. Corrective actions were taken which include refactoring and reclassification of project code. This is a concept of restructuring existing code while keeping the behavior and functionality of the code as it is.\\
-Refactoring is a concept to improve the design and structure of the software. Few advantages of refactoring are improved code readability and reduced complexity. This concept also then helps with more extensions which can be part of a later stage and to maintain and demonstrate a simpler and cleaner and more expressive internal architecture of project code. Refactoring can also improve performance by saving memory and making the program run faster~\cite{re1}~\cite{re2}.
+Refactoring is a concept to improve the design and structure of the software. Few advantages of refactoring are improved code readability and reduced complexity. This concept also then helps with more extensions which can be part at a later stage and to maintain and demonstrate a simpler and cleaner and more expressive internal architecture of project code. Refactoring can also improve performance by saving memory and making the program run faster~\cite{re1}~\cite{re2}.
\section{Connecting Everything - Simulations\\}
-Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let us manipulate the robot using motion plan in Rviz. How is this achieved is as follows.
+Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let user manipulate the robot using motion plan in Rviz. How is this achieved is as follows.
-In the project file structure described in the next chapter, there exists a launch file. The launch file parameters instructs the tools to be started like MoveIT and Gazebo in this case. It is also specified with a program node file to be launched. The parameters include name of the node file, package name and few other parameters. The launch file is then run from terminal. After changing directory to workspace, command "source devel/setup.bash" is run after which command "roslaunch packagename launchfilename.launcher" is run which launches the node file along with other tools like MoveIT and Gazebo. All this runs on ROS using message exchange. The node can then be programmed to listen to frames from simulator and command the robot in simulator to move as intended. ROS messages are sent from program node to simulator and back. This gives a brief overview of how everything works while a detailed explanation follows in the next chapter.
+In the project workspace file structure described in the next chapter, there exists a launch file. The launch file parameters instructs the tools to be started like MoveIT and Gazebo in this case. It is also specified with a program node filename to be launched. The parameters include name of the node file, package name and few other parameters. The launch file is then run from terminal. This is accomplished in following steps and after changing directory to workspace folder, command "source devel/setup.bash" is run after which command "roslaunch packagename launchfilename.launcher" is run, which launches the node file allowing it to communicate and use values from other tools like Gazebo. All this runs using ROS and using message exchanges. The node can then be programmed to listen to frames from simulator and also command the robot in simulator accordingly or as intended. ROS messages are sent from program node to simulator and back. This thus gives a brief overview of how everything works while a detailed explanation follows in the following chapter.
diff --git a/sections/eval.tex b/sections/eval.tex
index f0956eb0363cc95bd4cd4f31b64ec559ea20781c..c4aa8f408edb9881136ab86e9560ae44fd0e05b2 100644
--- a/sections/eval.tex
+++ b/sections/eval.tex
@@ -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.
diff --git a/sections/imp.tex b/sections/imp.tex
index d47fd109f907caf9bec4a2c7d2e5ca5ccc07f72d..0c1403b55099dee090ae2c00133eb3e88fe70b82 100644
--- a/sections/imp.tex
+++ b/sections/imp.tex
@@ -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
diff --git a/sections/soa.tex b/sections/soa.tex
index 1777235e0fdd5609dc8ceb2378edb65be1169c0c..cfd0fe3b9b37214964a0360851b21f441356f8de 100644
--- a/sections/soa.tex
+++ b/sections/soa.tex
@@ -1,16 +1,20 @@
\chapter{STATE OF THE ART}
-This chapter introduces and describes the technology and tools used for modeling and programming in this thesis work and this forms the state of the art for this thesis. In this section firstly a basic introduction to the technology of task is given and this is related to what is being tried to be accomplished in real world and then following sections describing first, the state of the art for theoretical models designed and then technology for the programming and related tools are descibed in the second section.
+This chapter introduces and describes the technology and tools used for modeling and programming in this thesis work and this forms the state of the art for this thesis. In this section, firstly a basic introduction to the technology of task is given and this is related to what is being tried to be accomplished in real world and then following section describing first, the state of the art for theoretical models designed and then technology for the programming and related tools are described in the second section.
\section {Motion Planning And Simulations}
-This robotics project revolves around the idea of motion planning. It is about design and implementation of a model based architecture for cobotic cells. The basic idea is that there is a robot which has to cohabit with humans and it is an effort to make it real world intelligent and this means it has to work in real world where obstacles, objects and humans are present. Accidents are imminent and hence the case study is about building intelligence in robot to deal with obstacles, thus enabling robot to provide safety to cohabiting humans.\\
+This robotics project revolves around the idea of motion planning. It is about design and implementation of a model based architecture for cobotic cells. The basic idea is that there is a robot which has to cohabit with humans and it is an effort to make it real world intelligent and this means it has to work in real world where obstacles, objects and humans are present. Accidents are imminent and hence the case study is about building intelligence in robot to deal with obstacles, thus enabling robot to provide safety for cohabiting humans.\\
-Using motion planning, tasks are accomplished by the robot and this is starting of building theoretical models for motion planning known as application model. Similarly world model is designed as a complete visual model for world of robot as well as safety model is designed as a theoretical model for safety of robotic system. All these are also programmed and described more objectively in later chapters. But for now only tools and technologies used to design and program them are described in the following two sections respectively. Firstly, the techniques used for visual depiction of models is described. Here a few of the optional depictions are talked and described and then the one selected in this thesis is described. Secondly, technology used for running the program made to implement these models is described~\cite{mops}.
+Using motion planning, tasks are accomplished by the robot and safety provided and this is starting step of building theoretical models for motion planning known as application model. Similarly world model is designed as a complete visual model for world of robot as well as safety model is designed as a theoretical model for safety of robotic system. All these are also programmed and described more objectively in later chapters. But for now only tools and technologies used to design and program them are described in the following two sections respectively. Firstly, models and their need is introduced and then techniques used for visual depiction of models is described. Here a few of the optional depictions are talked and described and then the one selected for this thesis is described for each of the models. Secondly, technology used for running the program made, i.e. to implement these models is described~\cite{mops}.
\section {Modeling - Explaining Choice of Design Depictions}
-Thesis work tries to find correct diagram depictions for all three intended diagrams which are world model, application model and lastly safety model. For this various design depictions were considered and after contemplation following depictions were selected and are described in sections below.\\
+This thesis uses the concept of designing architectural framework for human and robot cohabitation. For this model based cobotic cell design is used. Thesis work tries to find correct diagram depictions for all three intended diagrams which are world model, application model and lastly safety model. For this the concept of model need to be explained and also then why we need models and the various types of models along with the chosen models for all the three concepts of application model, world model and safety model.\\
+
+A model can be described as an abstraction of real world or a system, focusing on some specific structural and behavioral properties, which are then expressed in a syntactical and semantically defined language representation~\cite{mas}. There are various types of models which use different levels of abstraction. Using right level of abstraction is critical and it usually defines the granularity of the model and the complexity it expresses. There are usually always some details that are abstracted and some highlighted. There are various techniques of model construction types and some of them are object oriented models, process based models and hybrid models. These models thus help to visualize the structure of a system and hence make them an essential tool. A brief description about the types of models follows.\\
+
+Object oriented models have developed as a modeling paradigm, after being acting as programming paradigm. Most basic example is UML diagrams. The second type is process based models, they are more formal diagrams which are used to express domain specific and custom properties. Example is petri-nets and bigraphs. The third type of model is hybrid models. Some properties of safety cannot be sufficiently described as discreet models but as continuous dynamic models. Thus this model combines dynamic, discrete and continuous modeling languages. Example is hybrid-petri nets. Various design depictions were considered and after contemplation following depictions were selected.\\
\subsection{Unified Modeling Language (UML) Diagram For World Model Class Diagram}
@@ -18,7 +22,7 @@ This thesis work includes extensive research on the UML Class Diagram and its fe
Unified Model is a language used to appropriately formalize the static structure of a project using classes as building blocks. This modeling is most basic depiction of object oriented modeling and data modeling. UML class diagram describes classes, attributes they have and functions used to implement them, and show how the objects of these classes are related. This model cohesively describes the data contained in a project and how it all is related together to produce desired functionality~\cite{CD1}~\cite{CD2}.\\
-The class in this diagram is the basic unit. The class is an almost exact depiction of real object oriented class and contains three sections, first being the class name, second is the section for attributes i.e. data variables and their type held by the class and third section describe the operation, thus holding the methods. The UML class diagram can be extended using state machines which is described a few sections later to describe another model known as safety model and i.e. it is based on extension of UML class diagram. Here is depiction of a typical class in a class diagram.\\
+The class in this diagram is the basic unit. The class is an almost exact depiction of real object oriented class and contains three sections, first being the class name, second is the section for attributes i.e. data variables and their type held by the class and third section describe the operation, thus holding the methods. The UML class diagram can be extended using state machines which is described a few sections later to describe another model known as safety model and i.e. it is based on extension of UML class diagram. Here is depiction of a typical class in a class diagram in Fig.4.1.\\
\begin{figure}
\centering
@@ -27,18 +31,18 @@ The class in this diagram is the basic unit. The class is an almost exact depict
\label{fig:classicon}
\end{figure}
-There are various types of relation that connect classes together and this depends on complexity of the project. Each type of relation is described by a unique symbol of connection. Few of the relations are dependency, association, aggregation, inheritance and composition as described in the image. \\
+There are various types of relation that connect classes together and their usage depends on complexity of the project. Each type of relation is described by a unique symbol of connection. Few of the relations are dependency, association, aggregation, inheritance and composition as shown in the Fig 4.2 and described in sections later.\\
\begin{figure}
\centering
-\includegraphics[width=0.5\linewidth]{../Uml_classes_en.svg}
+\includegraphics[width=0.4\linewidth]{../Uml_classes_en.svg}
\caption{UML Relations Image Source : \lstinline|https://en.wikipedia.org/wiki/File:Uml_classes_en.svg|}
\label{fig:umlclassesen}
\end{figure}
\begin{enumerate}[label=(\Alph*)]
-\item Dependency\\
+\item Dependency
The dependency relation is marked by a dotted arrow. This implies a one-way relationship between two variable. It means that one variable is dependent on the other. If value of one variable in server changes then the value of variable dependent on it also changes on client.\\
@@ -55,6 +59,8 @@ Inheritance is another relationship. This is a property where in all characteris
Aggregation is one of more refined version of association relationship. Here functionality of one class is dependent on another one, i.e. if one variable do not exist then another variable having aggregation relationship is also not able to exist or be used. It is depicted by a line and tip having a quadrilateral.\\
\end{enumerate}
+Here is an example of a typical UML class diagram displayed in Fig. 4.3.
+
\begin{figure}
\centering
\includegraphics[width=0.7\linewidth]{../Example-of-a-UML-Class-Diagram}
@@ -62,33 +68,41 @@ Aggregation is one of more refined version of association relationship. Here fun
\label{fig:example-of-a-uml-class-diagram}
\end{figure}
-Tools used for UML class diagrams are Online Visual Paradigm. This is an online editor to construct UML class diagram. Another one used in the thesis for final design is Modelio tool.
+Tools used for UML class diagrams is Online Visual Paradigm. This is an online editor to construct UML class diagrams.
\subsection{Business Process Modeling Notation (BPMN) for Application Model}
-Business Process Modeling Notation is used for Application Model~\cite{18}. This is a design depiction used to construct application workflows and processes. BPMN provides a standardized bridge for the gap between the business process design and implementation. A Business Process Model is a network of graphical objects, which are activities(i.e. work) and the flow controls that define their order of performance and the flow. This diagram is made up of elements and there are many category of elements but the thesis work uses two major group of elements known as flow objects and connecting objects.
-
-The flow objects contain Events, Activities and Gateways and the connecting objects have Sequence Flows, Message Flows and Association. They all come together to give desired form to the process workflows. Here is image of all components of BPMN.
+Business Process Modeling Notation is used for Application Model~\cite{18}. This is a design depiction used to construct application workflows and processes. BPMN provides a standardized bridge for the gap between the business process design and implementation. A Business Process Model is a network of graphical objects, which are activities(i.e. work) and the flow controls that define their order of performance and the flow. This diagram is made up of elements and there are many category of elements but the thesis work uses two major group of elements known as flow objects and connecting objects. Here in Fig 4.4 is displayed an example of BPMN.\\
\begin{figure}
\centering
\includegraphics[width=0.7\linewidth]{../bpmnx}
-\caption{Components of BPMN Image Source : https://study.com/academy/lesson/business-process-model-and-notation-process-examples.html}
+\caption{Components of BPMN Image Source :https://study.com/academy/lesson/business-process-model-and-notation-process-examples.html}
\label{fig:bpmnx}
\end{figure}
+The flow objects contain Events, Activities and Gateways and the connecting objects have Sequence Flows, Message Flows and Association. They all come together to give desired form to the process workflows. Here in Fig.4.5 is image of all components of BPMN.\\
+
+\begin{figure}
+\centering
+\includegraphics[width=0.7\linewidth]{../pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2.0-diagram}
+\caption{BPMN Example Image Source : https://www.conceptdraw.com/examples/taxi-booking-process}
+\label{fig:pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2}
+\end{figure}
+
+A short description of all components is as follows.\\
+
\begin{enumerate}[label=(\Alph*)]
\item Events
-An event is depicted as a circle. This is something that marks something happening during the course of workflow. They affect flow of the process and have a trigger point or an result state. There are three types of events, and each of them show stage of the event happening and also effect the flow. These are start, intermediate and end events as is marked in the figure.
-
+An event is depicted as a circle. This is something that marks something happening during the course of workflow. They affect flow of the process and have a trigger point or an result state. There are three types of events, and each of them show stage of the event happening and also effect the flow. These are start, intermediate and end events as is marked in the Fig 4.5.
\item Activity
-Activity is depicted by a rounded-corner rectangle. It marks work that is performed. There are many types of activities but the main are Sub-processes and tasks as shown in figure.
+Activity is depicted by a rounded-corner rectangle. It marks work that is performed. There are many types of activities but the main are Sub-processes and tasks as shown in Fig 4.5.
\item Gateways
-A Gateway is shown by diamond shape and is used to direct the divergence and convergence of the work flow sequence. It governs traditional decisions, as well as the decision when to split, merge, and join paths.
+A Gateway is shown by diamond shape and is used to direct the divergence and convergence of the work flow sequence. It governs traditional decisions, as well as the decision when to split, merge, and join paths. \\
Here is description of Connecting objects also known as connectors. They are connected together to create structure and demonstrate flow. Three connectors are described below.
@@ -104,14 +118,8 @@ A Message Flow is depicted by a dashed line with an open arrowhead and it is use
An Association is used as a dotted line with a line arrowhead and it is used to associate data, text, or miscellaneous artifacts with flow objects. They are used to show the inputs and outputs of activities.
-A typical example of BPMN diagram is as follows.
+All these components come together to let users create a precise, detailed and desired form of expression using BPMN.
-\begin{figure}
-\centering
-\includegraphics[width=0.7\linewidth]{../pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2.0-diagram}
-\caption{BPMN Example Image Source : https://www.conceptdraw.com/examples/taxi-booking-process}
-\label{fig:pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2}
-\end{figure}
\end{enumerate}
\subsection{Unified Modeling Language State Machine for Safety Model}
@@ -135,11 +143,11 @@ Today almost all software system are event driven. These systems can be external
\item ROS \footnote{https://moveit.ros.org}\\
-ROS is an opensource robot operating system. ROS is not a regular OS in sense to not provide regular functions of OS like process management and scheduling but it provides a different set of services and acting like structured communications layer above the host operating systems. ROS is associated with existing frameworks of robots, with brief look on available application software which uses ROS. As robotics is a wide field and continuously a topic of research and a growing one, generating code for ROS is not easy. There are different category of robots available with high degree of variation in hardware, thus not enabling programmers to reuse code or develop on modules. In addition the total amount of code needed is too much for regular programmers, as it needs a deep stack starting from driver-level software and continuing up, and also needs abstract reasoning, and more. The required breadth and width of expertise needed is far more than the skills of any single researcher, robotics software architectures must also be able to be integrated with large-scale software. To address to these problems and make life easier for a regular programmer, many robotics researchers, have constructed huge number of frameworks to handle complexity and address to rapid prototyping of software for experiments, thus resulting enabling research in industry and academia. Each of the frameworks were made keeping in mind a purpose, maybe for a response to perceived weakness of other available frameworks, or to place importance on dimensions which were seen as most important in the design process. ROS, the framework is designed not without tradeoffs and prioritizations made during its design cycle which were essential to do in interest of practical uses. It is still thought the tradeoffs will serve well to purposes of large-scale integrative robotics research in a wide variety of uses and cases as robotic systems grow ever more complex~\cite{ro}.\\
+ROS is an opensource robot operating system. ROS is not a regular OS, in the sense it does not provide regular functions of OS like process management and scheduling but it provides a different set of services and acts like structured communications layer above the host operating systems. ROS is associated with existing frameworks of robots, with brief look on available application software which uses ROS. As robotics is a wide field and continuously a topic of research and a growing one, generating code for ROS is not easy. There are different category of robots available with high degree of variation in hardware, thus not enabling programmers to reuse code or develop on modules. In addition the total amount of code needed is too much for regular programmers, as it needs a deep stack starting from driver-level software and continuing up, and also needs abstract reasoning, and more. The required breadth and width of expertise needed is far more than the skills of any single researcher and robotics software architectures must also be able to be integrated with large-scale software. To address to these problems and make life easier for a regular programmer, many robotics researchers, have constructed huge number of frameworks to handle complexity and address to rapid prototyping of software for experiments, thus resulting enabling research in industry and academia. Each of the frameworks were made keeping in mind a purpose, maybe for a response to perceived weakness of other available frameworks, or to place importance on dimensions which were seen as most important in the design process. ROS, the framework is designed not without trade-offs and prioritizations made during its design cycle which were essential to do in interest of practical uses. It is still thought the trade-offs will serve well to purposes of large-scale integrative robotics research in a wide variety of uses and cases as robotic systems grow ever more complex~\cite{ro}.\\
\item MoveIT \footnote{ https://moveit.ros.org/ } \\
-MoveIT motion planner was used for motion planning as this software lets us alter many different parameters of the robotic components and helps to create case studies in a world environment for robot Panda. Here a series of joints and poses is set and then a trajectory for motion planning, which is then used to run in a real world simulator. Its main purpose is to motion plan and introduce an obstacle which is a cube box or which can be a human being and the motion plan is about moving the robot arm around the obstacle to reach a position which was decided earlier in the motion plan~\cite{movita}. There can be as well other motion plans that are simpler and more complex\\
+MoveIT motion planner was used for motion planning as this software lets users alter many different parameters of the robotic components and helps to create case studies in a world environment for robot Panda. Here a series of joints and poses is set and then a trajectory for motion planning, which is then used to run in a real world simulator. Its main purpose is to motion plan and introduce an obstacle which is a cube box or which can be a human being and the motion plan is about moving the robot arm around the obstacle to reach a position which was decided earlier in the motion plan~\cite{movita}. There can be as well other motion plans that are simpler and more complex\\
This is motion planner used to plan the motion of robot Franka Panda in this case. This connects to simulator for running real world simulations using the Robot Operating System (ROS) and launch file. Here is screenshot for Rviz.\\
@@ -150,15 +158,15 @@ This is motion planner used to plan the motion of robot Franka Panda in this cas
\label{fig:screenshot-from-2020-10-14-04-13-00}
\end{figure}
-When MoveIT tool is started for the first time there comes up an empty world. On the top there is option Panel which can be clicked to see a drop down menu and from there some of the panels can be selected which need to be used. The motion planning enables user to set various field parameters and their values like some of them are Fixed Frame, Robot Description, Planning Scene Topic, Planning Group and Planning Request and more like Planning Trajectory and many more and they can be explored further using online tutorials provided by ROS thus adding to a lot of functionality and flexibility. \footnote{\lstinline|https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html|}.
+When MoveIT tool is started for the first time there comes up an empty world. On the top there is option Panel which can be clicked to see a drop down menu and from there some of the panels can be selected which need to be used. The motion planning enables user to set various field parameters and their values, like some of them are Fixed Frame, Robot Description, Planning Scene Topic, Planning Group and Planning Request and more like Planning Trajectory and they can be explored further using online tutorials provided by ROS, thus adding to a lot of functionality and flexibility\footnote{\lstinline|https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html|}.
-Fig.4.7 This is what Rviz motion planner looks like. The robot is stationary in this case and can be moved using arrows displayed in different colors to attempt motion in different directions. The 7 joint of Robot Panda give it immense flexibility but there maybe some motions which are not possible and in this case it is made obvious while using MoveIT. The Displays on the top left shown are showing various different parameters which Rviz can help tune and change. Some of them are Robot Description and Planning Scene Topic and there is Plan and Execute button which can be used to run the plan once the arm is moved to a new position termed as final position. The plan can be executed in Gazebo Simulator by clicking Plan and Execute button and the trajectory is visible in the Rviz and then almost immidiately the Gazebo simulator executes the motion.\\
+Fig.4.7 This is what Rviz motion planner looks like. The robot is stationary in this case and can be moved using arrows displayed in different colors to attempt motion in different directions. The 7 joint of robot Panda give it immense flexibility but there maybe some motions which are not possible and in this case it is made obvious while using MoveIT. The Displays on the top left shown are showing various different parameters which Rviz can help tune and change. Some of them are Robot Description and Planning Scene Topic and there is Plan and Execute button which can be used to run the plan once the arm is moved to a new position termed as final position. The plan can be executed in Gazebo simulator by clicking Plan and Execute button and the trajectory is visible in the Rviz and then almost immidiately the Gazebo simulator executes the motion.\\
\item Gazebo \footnote{http://gazebosim.org/}
-Gazebo simulator was used which is a simulator to run the motion plan from MoveIT. This lets users see if the real life simulation is possible for the conceived motion plan and trajectory visualized in a visualization tool like MoveIT. Gazebo also has additional features which can add and alter real time parameters to its simulation like altering torque of joints to see how robot reacts in real world~\cite{gaz}.\\
+Gazebo simulator was used which is a simulator to run the motion plan from MoveIT. This lets users see if the real life simulation is possible for the conceived motion plan and trajectory visualized in a visualization tool like MoveIT. Gazebo also has additional features which can add and alter real time parameters to its simulation like altering torque of joints to see how robot reacts in varying real world conditions~\cite{gaz}.\\
-This is real world simulator which simulates robot motion with real world parameters tuned to check if the motion plan is executable and feasible in real world. Here is how the Gazebo simulator looks on screen.\\
+This is a simulator which simulates robot motion with real world parameters tuned to check if the motion plan is executable and feasible in real world. Here is how the Gazebo simulator looks on screen.\\
\begin{figure}
\centering
@@ -167,11 +175,11 @@ This is real world simulator which simulates robot motion with real world parame
\label{fig:screenshot-from-2020-10-14-04-13-12}
\end{figure}
-In this thesis work there was no need to explore functionality or fiddle any of features in Gazebo. It was used to visualize motion plan of MoveIt and checked if this is real world feasible in Gazebo. In this tool it is possible to tune a lot of real world parameters and the ones related to Robot Panda are torques on joints but this was not required.
+In this thesis work there was no need to explore functionality or fiddle any of features in Gazebo. It was used to visualize motion plan of MoveIt and to check if this is real world feasible in Gazebo. In this tool it is possible to tune a lot of real world parameters and the ones related to robot Panda are torques on joints but this was not required.
\item Clion IDE \footnote{https://www.jetbrains.com/clion/}
-This is the editor used to write C++ code for a project in this task and this is IDE used to compile and run it. CLion is used to provide many aides to help reduce the programmers workload and automate the process of adding code by providing many suggestions using inbuilt libraries and showing connections. In addition it points out logic errors in advance and helps mitigates errors and warnings that may come at a later stage by improving the quality of code while being coded. CLion IDE can be started by opening a terminal in linux and typing command "clion". The figure 4.9 shows how CLion IDE looks like.\\
+This is the editor used to write C++ code for the tasks in this project and this is IDE used to compile and run it. CLion is used to provide many aides to help reduce the programmers workload and automate the process of adding code by providing many suggestions using inbuilt libraries and showing connections among variables. In addition it points out logic errors in advance and helps mitigate errors and warnings that may come at a later stage by improving the quality of code while still in construction process. CLion IDE can be started by opening a terminal in linux and typing command "clion". The Fig 4.9 shows how CLion IDE looks like.\\
\begin{figure}
\centering
@@ -180,12 +188,13 @@ This is the editor used to write C++ code for a project in this task and this is
\label{fig:screenshot-from-2020-10-14-04-08-02}
\end{figure}
-CLion window shows the complete project structure on one side and each opened program on right side, making it easier to understand the code and make things easy to lookup. The window in second half of screen is the console output window. It shows the errors and command line output. These are some of useful general features of Clion IDE in addition to many more used.
+CLion window shows the complete project structure on one side and each opened program on right side under tabs, making it easier to understand the code and make things easy to lookup. The window in second half of screen is the console output window. It shows the errors and command line output. These are some of useful general features of Clion IDE in addition to many more used.
\item Gitlab \footnote{https://gitlab.com/explore}
-To keep the constructed code safe from loss and to keep it accessible and visible as a package to a host of users, the code is uploaded to a central repository for which Gitlab was used. This is a widely used repository for students in a university setting.
-It shows the projects available under the namespace of account owner and has a range of features and commands used, which are described in the following paragraphs. The image shows how a typical Gitlab account appears in web.
+To keep the constructed code safe from loss and to keep it accessible and visible as a package to administrators and a host of users, the code is uploaded to a central repository for which Gitlab was used. This is a widely used repository for students in a university setting.\\
+
+It shows the projects available under the namespace of account owner and has a range of features and commands used, which are described in the following paragraphs. The Fig. 4.10 shows how a typical Gitlab account appears in web.
\begin{figure}
\centering
@@ -194,35 +203,26 @@ It shows the projects available under the namespace of account owner and has a r
\label{fig:screenshot-from-2020-10-14-20-16-28}
\end{figure}
-After logging in to Gitlab account, the users are welcomed to a page which shows repositories available. The groups and repositories subscribed by the owner user or given access to owner user by other users are demonstrated here at the page. The top section has tabs "All" and "Personal". "All" signify all projects which owner user has access to and the "Personal" tab has repositories forked by the owner user only.
+After logging in to Gitlab account with credentials of username and password, the users are welcomed to a page which shows repositories available. The groups and repositories subscribed by the owner user or given access to owner user by other users are demonstrated here at the page. The top section has tabs "All" and "Personal". "All" signify all projects which owner user has access to and the "Personal" tab has repositories forked by the owner user only. The owner user can give access to other users for their repositories too.
-Gitlab is a tool that allows user to create a fork from a parent repository and be able to use it as a personal repository. In cases when the personal fork has become corrupt or cannot be used anymore, it can be re-forked from parent repository. Gitlab also allows construction of more than one branch from a forked repository to solve this problem, so in cases when the master branch of repository is not usable anymore, a new branch can be created and used. This is also useful to maintain different versions of the code and this is one of many features of Gitlab this thesis used. Forking can be done by clicking on the parent repository and then clicking on Blue tab marked as "Clone". Then appears two options "Clone with HTTPS" and "Clone with SSH", one of link is which needs to be copied. The command "git clone" can be then used on terminal, appended with the copied link from Clone tab to fork the repository to local machine.
+Gitlab is a tool that allows user to create a fork from a parent repository and be able to use it as a personal repository. In cases when the personal fork has become corrupt or cannot be used anymore, it can be re-forked from parent repository. Gitlab also allows construction of more than one branch of the forked repository to solve this problem, so in cases when the master branch of repository is not usable anymore, a new branch can be created and updated with. This is also useful to maintain different versions of the code and this is one of many features of Gitlab this thesis used. Forking can be done by clicking on the parent repository and then clicking on Blue tab marked as "Clone". Then appears two options "Clone with HTTPS" and "Clone with SSH", one of link is which needs to be copied. The command "git clone" can be then used on terminal, appended with the copied link from Clone tab to fork the repository to local machine.
-After forking from a parent repository, work is done and added to the folders forked from repository and used on local machine. But they need to be uploaded to Gitlab at regular intervals to log the progress and keep it safe from loss on local machine. For this, the folder is to be uploaded or pushed from local machine to the Gitlab account for which commands have to be used from terminal of local machine. A short description of commands used to achieve this is stated below.
+After forking from a parent repository, work is done and added to the folders forked from repository and used on local machine. But they need to be uploaded to Gitlab at regular intervals to log the progress and keep it safe from loss on local machine. For this, the folder is to be uploaded or pushed from local machine to the Gitlab account for which commands have to be used from terminal of local machine. A short description of commands used to achieve this are stated below.\\
Many commands used are general git commands which mostly include "git status", "git add .", "git commit", "git fetch", "git pull" and "git push".
-First of all to use git upload in the project, user must go to the project parent directory in linux and right click to click "Open In Terminal" option to open a terminal which is already in parent directory of project. Or else, a terminal can be opened and "cd" command can be used, suffixed by the path to parent directory after a space. This "cd" command can also be run in steps and this changes current directory to stated suffixed directory. Using this in steps, users can switch to the directory that need to be pushed in project.
-
-Second step after coming to the directory to be pushed is to see its status on git and this can be done using command
-- git status
-This command shows what are the changes since last commit or what is changed and new.
-
-Then command must be run to add all changes to git and this is done using command
-- git add.
-This adds all changes and new files to git to be used as desired.
+First of all to use git upload in the project, user must go to the project´s parent directory in linux and right click to click on "Open In Terminal" option to open a terminal which is already in parent directory of project workspace. Or else, a terminal can be opened and "cd" command can be used, suffixed by the path to parent directory of workspace after a space. This "cd" command can also be run in steps and this changes current directory to stated, suffixed directory at each step. Using this in steps, users can switch to the directory that need to be pushed in project.\\
-Then ideally once again status should be checked to see if the files added are now shown in green color after adding them to git.
-This can be done using "git status" command once again. All files must now appear in green and this shows they were added to git since last add. This step maybe alternatively skipped as well.
+Second step after switching to the directory to be pushed, is to see its status on git and this can be done using command "git status". This command shows what are the changes since last commit or what is changed and new.\\
-Then changes added must be committed and this can be done using command "git commit -m "xx" ". The xx is commit message and this text is used as a markup. Any text can be used here instead of xx. This command commits changes to git.
+Then command must be run to add all changes to git and this is done using command "git add .". This adds all changes and new files to git to be used as desired. Then ideally once again status should be checked to see if the files added are now shown in green color after adding them to git. This can be done using "git status" command once again. All files must now appear in green and this shows they were added to git since last add command. This step alternatively can be skipped.
-Then "git fetch" command can be used to see which is the branch fetched. This is to confirm if the commit is on correct branch.
+Then changes added must be committed and this can be done using command "git commit -m "xx"". The xx is a commit message and this text is used as a markup. Any text can be used here instead of xx. This command commits changes to git. Then "git fetch" command can be used to see which is the branch fetched. This is to confirm if the commit is on correct branch.
-Then command "git pull" can be used to see if there are still changes between git version and what is in online repository version. After this once again status must be checked. If there is nothing to add, then all is well but we can once again use git "add ." command to see if anything more can be added. At this point meld . tool can be used to match the changes in file i.e. if there are any, between git and commit but this may not be needed for regular uses and only when there are any discrepancy differences due to irregularities between pushes. Then "git push" must be used to push all changes to Gitlab. This prompts for user to add username and password and after this stage all changes are pushed to Gitlab account folder. Thus this shows completed git command line push process.
+After this command, command "git pull" can be used to see if there are still changes between local git version and what is in online repositories version. After this once again status must be checked. If there is nothing to add, then all is well but we can once again use git "add ." command to see if anything more can be added. At this point "meld" tool can be used to match the changes in file i.e. if there are any, between online git and commit but this may not be needed for regular uses and only in cases when there are any discrepancy differences due to irregularities between pushes. Then "git push" must be used to push all changes to Gitlab. This prompts for user to enter username and password and after this stage all changes are pushed to Gitlab account folder. Thus this shows a completed git command line push process.
\item Erdal's Repositories \footnote{https://github.com/frankaemika/ , https://erdalpekel.de/?p=55}
-There are few startup repositories provided by Erdal to use and run robot Franka Emika Panda using ROS on local machine. The robotic framework package has libfranka and this is a C++ program library, frankaros which is a ROS interface with ROS Control and MoveIt integration. The links contain all repositories that can be used for robot Panda in addition to what has been used by work of this theses.\\
+There are few startup repositories provided by Erdal to use by including as package in workspace and they are essential to run robot Franka Emika Panda using ROS on local machine. The robotic framework package has libfranka and this is a C++ program library, frankaros which is a ROS interface with ROS Control and MoveIt integration. The links above contain all repositories that can be used for robot Panda including the ones that has been used by work of this theses.\\
\end{enumerate}
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index 34c25dc4586ce61156d8082322f5299ca1e6a452..7178850c5bfdf2a4b0ac7714ca8fa7a9014acb84 100644
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chapter 1.
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index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..9483e87e9ef6ed71e0a23eae13343daa45516fc0 100644
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+\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}%
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+\contentsline {section}{\numberline {1.2}Components Of a Typical Robot}{6}{section.1.2}%
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+\contentsline {section}{\numberline {1.3}Uses And Applied Fields}{7}{section.1.3}%
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+\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}%
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+\contentsline {section}{\numberline {1.5}Expectations From Robots}{9}{section.1.5}%
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+\contentsline {section}{\numberline {1.6}Evolution - Robots to Cobots}{9}{section.1.6}%
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+\contentsline {chapter}{\numberline {2}INSPIRATION AND DRIVING FORCE}{10}{chapter.2}%
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+\contentsline {chapter}{\numberline {3}BACKGROUND}{12}{chapter.3}%
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+\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}%
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+\contentsline {subsection}{\numberline {3.2.2}Drive a.k.a Motion}{14}{subsection.3.2.2}%
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+\contentsline {subsection}{\numberline {3.2.3}Impedance}{14}{subsection.3.2.3}%
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+\contentsline {section}{\numberline {3.3}Software Tools Robot Franka Uses}{15}{section.3.3}%
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+\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}%
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+\contentsline {subsection}{\numberline {3.4.2}Collaboration and Co-operation}{16}{subsection.3.4.2}%
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+\contentsline {section}{\numberline {3.5}Accidents Due To Malfunctions and Consequences}{16}{section.3.5}%
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+\contentsline {subsection}{\numberline {3.5.1}Mechanical Failure}{17}{subsection.3.5.1}%
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+\contentsline {subsection}{\numberline {3.5.2}Electrical Anomaly In Components}{17}{subsection.3.5.2}%
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+\contentsline {subsection}{\numberline {3.5.3}Malfunctioning Software}{17}{subsection.3.5.3}%
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+\contentsline {chapter}{\numberline {4}STATE OF THE ART}{20}{chapter.4}%
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+\contentsline {section}{\numberline {4.1}Motion Planning And Simulations}{20}{section.4.1}%
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+\contentsline {section}{\numberline {4.2}Modeling - Explaining Choice of Design Depictions}{20}{section.4.2}%
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+\contentsline {subsection}{\numberline {4.2.1}Unified Modeling Language (UML) Diagram For World Model Class Diagram}{21}{subsection.4.2.1}%
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