成果報告書詳細
管理番号20110000001173
タイトル*平成22年度中間年報 次世代ロボット知能化技術開発プロジェクト ロボット知能ソフトウェア再利用性向上技術の開発(1)
公開日2011/10/12
報告書年度2010 - 2010
委託先名富士ソフト株式会社 独立行政法人産業技術総合研究所
プロジェクト番号P08013
部署名機械システム部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容及び成果等
平成22年度は、以下の研究開発を中心に行なった。
(1)アプリケーション事例検討とその試作
「次世代ロボット知能化技術開発プロジェクト」に参加の各研究体が作成した多様なRT コンポーネント(以降、RTC)を第三者が容易に再利用できる体系を構築し、その知能モジュールの普及・発展を推進することを目的として、「ロボット知能ソフトウェア再利用性向上技術の開発」を進めている。この体系を築き上げるためには、まず当研究体が利用者となりRT コンポーネントの再利用検証を行い、その有効性を確かめることが重要である。
具体的なアプローチとして、実際に使用されるであろうアプリケーションシステムを想定し、サービス仕様から作成を行い、システム構成を分析し設計を行い、そのシステムに適合する候補のRTC を選定し、システムを組み上げることで、目的とするサービス仕様にどれだけ対応出来るか、またRTC 化することでの有効性・再利用性について検証を行った.
これらの再利用検証を通じて、より実運用に近い有効なシステムを構築すべく、反復的に実施を行い、平成22 年度においては合計3 回の検証を行った。システムの概要は以下の通りである。
英文要約Title: Research Project for promoting enhancements of reusability for RT Intelligent Software modules (FY2008-FY2011) FY2010 Annual Report
Main research subjects of our Group are as follows. (a)Consideration and Recommendation of the Development Method for High Quality Intelligent Software Modules. (b)Establishment of the Verification Environment for the reuse of Intelligent Software Modules and execution of the verification tasks. (c)Construction of the Reuse Environment for Intelligent Software Modules and Implementation of the Accumulation & Delivery Services for those modules. FUJISOFT, member of Consortium(1)-2, started this project according to above subjects in September 2008 and we have performed the following accomplishments in FY2010.
(1)Building Verification Environments to evaluate the reusability for RTCs. In order to verify the developed RT Components(RTCs) and improve the reusability of them, it is necessary to confirm whether the RTCs are usable in other application systems or not. Thus we assumed several application systems which may utilize RTCs developed by other groups in the project, and analyzed the system composition. Then we decided to experimentally implement an application example using several selected appropriate RTCs. The application is called "Visitors Reception System" which we built on the Reference Hardware V2 and PA10. In the system we used early developed partners' modules and exchanged them with other similar modules in terms of evaluating the performance and features of the system. Through these experimentations we generated and revised the Functional Specifications and Test Specifications as a model of sample Specifications for each Research Group. (2)Establishment of Reuse Web System. We established the Reuse Web System on the site of Research Center of Reuse Technology and released the system on Nov. 16, 2009. Since then, a lot of modules including its documentations have been registered on the system and those contents have been opened for limited members participating in this project. As originally the system has useful menus to display Module List planned to be registered and Modules currently registered, Upload and Download modules, and provide Q&A functions, this system has been continuing to be used as important tool to share information on the developed RTCs in this project. As of March 31, 2011, almost 300 modules have been registered on the site. In addition to the existing Reuse Web System, we are developing new Web System which will be consolidated with the OpenRTM-aist Web System for RTCs delivered as Open Source Software. (3)Test and Verification for Registered Modules. Following to the documentation check for registered RTCs, we have begun with the execution check as a second step to test and verify the registered modules. The checkpoints of this inspection are whether to construct necessary environment, and to execute correctly the provided sample program including concerned RTCs. During our inspection for the registered modules, when we found for the RTC some bugs, for instance document error-description, inconsistency of OpenRTM or OS and others, we pointed out some advices to correct the documentations and asked the Research Group to register again revised RTCs. Through this inspection, we aim to test and verify all RTCs registered on the Reuse Web System during this project.
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