Attachment_0041_-__RAS-G_IOP_V2-JAUS_Instantiation_Helper.pdf

Robotics and Autonomous Systems – Ground (RAS-G) Interoperability Profile (IOP)

JAUS Profiling Rules – JAUS Instantiation Helper Version 2.0

Project Manager, Force Projection (PM FP)

SFAE-CSS-FP MS 401

6501 East 11 Mile Road

Warren, MI 48397

February 2016

Distribution A: Approved for Public Release

Contents 1 Scope

1.1 Using this Document

1.1.1 Organization of this Document

1.1.2 Forming an Instantiation

1.1.3 Specifying the Global Attribute

1.1.4 Specifying the Platform Attribute

1.1.5 Specifying the Mobility Attribute

1.1.6 Specifying the Autonomy and Behaviors Attribute

1.1.7 Specifying the Sensor Attribute

1.1.8 Specifying the Emitter Attribute

1.1.9 Specifying the Actuator Attribute

1.1.10 Specifying the Communications Attribute

1.1.11 Specifying Parameters

1.1.12 Writing down an Instantiation – Compact Form

1 Scope The purpose of this document is to provide a user of the JAUS Profiling Rules IOP a guide to selecting the appropriate Interoperability Attributes to capture the IOP JAUS requirements for a particular system. This document should be used as a companion document to the Robotics and Autonomous Systems – Ground (RAS-G) Interoperability Profiles (IOP) JAUS Profiling Rules, Version 2 document.

1.1 Using this Document

This section describes how to use this document to form an IOP instantiation. An instantiation is a specific set of attributes that are selected from this IOP to form a single instance of IOP requirements that apply to the system for which you require the use of the IOP. An instantiation consists of a set of mandatory attribute choices, and any number of optional attribute choices.

1.1.1 Organization of this Document

The document is organized around Interoperability Attributes (also referred to as just attributes). Interoperability Attributes describe a capability and define the requirements needed to implement that capability in accordance with this IOP document. These requirements include required JAUS Services, identified requirements that call out specific things that must be done, message interpretations, periodicity requirements, and parameters that must be defined (see below for more details).

Interoperability attributes are hierarchical – one attribute may reference other attributes that can or must be selected in order to fully define that capability. Most attributes also have a parent attribute – for example, the Teleoperation attribute has a parent Mobility Attribute. Attributes inherit all requirements from their parent attribute.

1.1.2 Forming an Instantiation

Forming an instantiation is like starting from the root of a tree and selecting which braches to include all the way down until you hit the leaves of the tree. In the JAUS Profiling Rules document, the Interoperability Attributes are the branches – each time you make a choice, whether mandatory or optional, to include a new referenced attribute, you add a branch. The lowest level choices you make at the end of that branch form the leaves. Each step further away from the root of the tree adds specific capabilities and requirements to the IOP instantiation.

The root of all JAUS Profiling Rules instantiations is the Core Software and Logical Attribute – this attribute groups together all of the other JAUS related attributes. There are two mandatory and multiple selectable attributes grouped under the Core Software and Logical Attribute. The mandatory attributes mainly describe core JAUS functionality that must be implemented by any IOP-implementing system. The selectable attributes are broad capability categories from which attributes that define more specific capabilities can be defined.

Core Software and Logical Attribute Mandatory – you must include these attributes.

Attribute Description

M Core JAUS Attribute Mandatory attribute that must be selected for every system that defines requirements using Interoperability Attributes.

M JAUS Hierarchy Rules Attribute Defines the rules for translating attribute requirements from this IOP into a JAUS Subsystem, Node, Component hierarchy.

Optional – select any number of these attributes.

Global Attribute Global Interoperability Attributes do not tightly fit into a single attribute group or are likely to be used in conjunction with many different Interoperability Attributes.

Platform Attribute Platform-centric attributes that provide platform level capabilities such as discovery, engine status information, health information, etc.

Mobility Attribute The Mobility Interoperability Attribute defines attributes related to platform mobility, such as driving.

Autonomy and Behaviors Attribute Provide higher level navigation capabilities and support for other behaviors that take place absent complete operator control.

Sensor Attribute

UGVs have payloads which can collect data from the surrounding environment. In addition UGVs have sensors that collect data from the robot in order to report back to the operator health and other status information.

Emitter Attribute UGVs have payloads which can affect their surrounding environment at a distance. These include Lights, Speakers, Laser Target Designators, and Weapons.

Actuator Attribute Actuator payloads provide mechanical means of manipulation.

Communications Attribute Communications Interoperability Attributes define capabilities to deal with communications off-board the platform.

1.1.2.1 Specifying your Core JAUS Attribute Choices

The Core JAUS Attribute defines some requirements that are fundamental to all JAUS systems, and also references 4 mandatory referenced attributes that require choices that define key technical requirements of a JAUS-based system.

Core JAUS Attribute Mandatory – you must include these attributes.

Attribute Description

M Access Control Attribute

Specifies how authority is used to control access to services that accept commands, like mobility and manipulator services.

M Component Liveness Attribute

Specifies that a Liveness service shall be provided by each component (allows liveness/connectivity checks to be performed).

M ID Assignment and Propagation Attribute

Defines basic concepts used in assignment of JAUS Subsystems (Platform / OCU) and Nodes (payloads).

Parent of all Subsystem and Node ID Assignment and Propagation attributes.

M Transport Attribute Specifies the type of transport layer(s) used to transport JAUS messages.

The ID Assignment and Propagation Attribute references three attributes – Subsystem ID Assignment, Subsystem ID Propagation, and Node ID Assignment. Subsystem ID Assignment and Node ID Assignment are mandatory, while Subsystem ID Propagation is optional at this level (note: the Subsystem ID Propagation attribute is mandatory if the Centralized Subsystem ID Assignment attribute is specified further down the tree).

ID Assignment and Propagation Attribute First two attributes are mandatory, last is not.

Attribute Description

M Subsystem ID Assignment Attribute Specifies how JAUS Subsystems within a JAUS system are assigned a Subsystem ID.

M Node ID Assignment Attribute Specifies how JAUS Nodes within a JAUS subsystem are assigned a Node ID.

Subsystem ID Propagation Attribute Specifies how a Subsystem ID is propagated to JAUS Nodes (payloads).

The Subsystem ID Assignment Attribute defines how each JAUS Subsystem gets its unique ID. A JAUS Subsystem is usually something like a robot or controller. There are static and centralized approaches to assigning this subsystem ID. If you select the Centralized Subsystem ID Assignment Attribute, it automatically mandates inclusion of the Subsystem ID Propagation Attribute shown above.

Subsystem ID Assignment Attribute Mutually exclusive – you must choose exactly one of these attributes.

Attribute Description

Static Subsystem ID Assignment Attribute

Defines static assignment of JAUS Subsystem IDs. Static assignment implies a predetermined set of JAUS Subsystem IDs are assigned for each JAUS Subsystem.

Centralized Subsystem ID Assignment Attribute

Defines a centralized approach to acquiring JAUS Subsystem IDs. In this approach, a central server provides unique IDs to all JAUS Subsystems that submit a request for an ID.

The Node ID Assignment Attribute defines how each JAUS Node gets its unique ID. A JAUS Node is often associated with a single computer processor (i.e. a payload or a module within a robot), but can also be a logical grouping of JAUS Components.

Node ID Assignment Attribute Mutually exclusive – you must choose exactly one of these attributes.

Attribute Description

Static Node ID Assignment Attribute Defines static assignment of JAUS Node IDs, done at setup / configuration time.

Dynamic Node ID Assignment Attribute

Defines dynamic assignment of JAUS Node IDs, done at run-time.

The Transport Attribute defines how messages are sent over the wire between different JAUS systems. You can select multiple transports – if you do so, you should specify somewhere in your requirements what is to use each transport.

Transport Attribute You must choose AT LEAST one of these attributes.

Attribute Description

JUDP Attribute Specifies that messages shall be transported using the JAUS over UDP as defined in AS5669A JAUS/SDP Transport Specification. JUDP defines JAUS over User Datagram Protocol, which is a simple connectionless protocol with lower latency than TCP but without guaranteed delivery.

JTCP Attribute Specifies that messages shall be transported using the JAUS over TCP as defined in AS5669A JAUS/SDP Transport Specification. JTCP defines JAUS over Transmission Control Protocol, which is a connection oriented protocol that provides reliable delivery, but with higher latency than UDP.

Custom Transport Attribute Specifies that a custom transport defined in the Custom

Services, Messages, and Transports IOP document shall be used.

1.1.3 Specifying the Global Attribute

The Global Attribute references attributes that provide capabilities that are not specific to any one category, or that have use in multiple other categories.

Global Attribute

Pose And Attitude Attribute

Power Plant Management

Attribute

Preset Pose Attribute

Render Useless Attribute

Tamper Detection Attribute

Odometry Attribute

Health Attribute

Filtered Action Attribute

Obstacle Reporting Attribute

Physical Specification

Attribute

Software Version Reporting Attribute

Basic Global Position and

Attitude Attribute

Basic Local Position and Attitude

Attribute

Advanced Global Position and

Attitude Attribute

Advanced Local Position and

Attitude Attribute

At Least One

Health Reporter

Global Attribute

Optional – select any number of these attributes.

Pose And Attitude Attribute Adds ability to view/ report the pose and attitude of a platform. Many other capabilities are built upon this information.

Power Plant Management Attribute Provides the ability to get information from and manage a power plant, which may be batteries, a gasoline engine, a diesel engine, or a hydraulic system.

Preset Pose Attribute

Provides the ability to get information on available preset poses that a platform or payload has, and to command that platform or payload to go to one of those preset poses (i.e.

a "Stow" pose for storing a system).

Render Useless Attribute Defines the capability to render a platform, payload, or other device useless.

Tamper Detection Attribute Defines the capability to report on when tampering has occurred.

Odometry Attribute Defines on distance travelled and provides the ability to set trip meters.

Health Attribute

Provides for summary reports and detailed reports of JAUS subsystem, node, and component health, providing reporting to the level of service health to the level of sensors and actuators.

Filtered Action Attribute Provides a way to pass actions such as commands through a filter before they reach their final destination.

Obstacle Reporting Attribute Provides a way to report obstacles, hazardous terrain, and no-go zones using an overhead 2D cost map.

Physical Specification Attribute Provides a mechanism for describing the physical and power characteristics of a node.

Software Version Reporting Attribute Provides the ability for a JAUS component to describe the software packages, shared libraries, scripts, etc. installed on it.

If you select the Pose and Attitude Attribute, you must specify what type of pose/attitude you will use – globally or locally referenced.

Pose And Attitude Attribute

Select at least one of these attributes.

Basic Global Position and Attitude Attribute

Defines the capability to report Basic Global Position and Attitude.

Basic Local Position and Attitude Attribute

Defines the capability to report Basic Local Position and Attitude.

You can augment the global and local position reporting by including the capability to report historical poses.

Basic Global Position and Attitude Attribute

Optional – select any number of these attributes.

Advanced Global Position and Attitude Attribute

Defines the capability to access the historical (previous) global positions of the platform.

Basic Local Position and Attitude Attribute

Advanced Local Position and Attitude Attribute

Defines the capability to access the historical (previous) local positions of the platform.

If you select the Health Attribute, you can select to include the Health Reporter Attribute (this is currently the only attribute referenced by the Health Attribute, so selecting Health and not Health Reporter is not advised).

Health Attribute Optional – select any number of these attributes.

Attribute Description

Health Reporter Attribute Adds low level health reporting capabilities, tied into built in tests (BIT).

1.1.4 Specifying the Platform Attribute

The Platform Attribute reference attributes that provide platform-centric capabilities, like platform management.

Platform

Management

Attribute

No Platform Manager Attribute

Mutually Exclusive No Automated

Behaviors Attribute

Basic Automated Behaviors Attribute

Advanced Automated

Behaviors Attribute

Mutually Exclusive

Enhanced Access Control Attribute

Stability Control Attribute

Digitial Resource Discovery Attribute

Advanced Platform Management

Attribute

Platform Mode Attribute

Platform State

Platform Attribute Mutually exclusive – you must select one and only one of these attributes.

Attribute Description

Platform Management Attribute There is a Platform Management JAUS component.

No Platform Manager Attribute Implies that there is no Platform Manager JAUS node or component and that discovery is not provided.

Optional – select any number of these attributes.

Enhanced Access Control Attribute

Adds enhanced access control capability to all components that provide the standard access control. Enhanced access control gives the ability to perform graceful handoff of control from a current controller to one with equal or less authority.

Stability Control Attribute Provides a way to discover and activate driver-assist capabilities of the vehicle.

Mutually exclusive – you must select one and only one of these attributes.

No Automated Behaviors Attribute Specifies that the platform offers no dedicated services for automated behaviors, and leaves that support to the OCU.

Basic Automated Behaviors Attribute Adds platform support for sequences of actions (automated behaviors) by using the SAE JAUS Mission Spooler Service.

Advanced Automated Behaviors Attribute

Placeholder for future enhanced automated behaviors that extend the basic capabilities.

If you select the Platform Management Attribute, you must also include the Digital Resource Discovery Attribute and can also select more advanced platform management attributes.

Platform Management Attribute Mandatory – you must select these attributes.

Attribute Description

M Digital Resource Discovery Attribute Digital resource discovery attribute specifies the service(s) used to register the digital video feed(s) used in teleoperation.

Optional – select any number of these attributes.

Advanced Platform Management Attribute

The Advanced Platform Management Interoperability Attribute is reserved for providing future capabilities such as calibration, software updates, etc.

1.1.5 Specifying the Mobility Attribute

The Mobility Attribute references attributes that define a platform’s mobility capabilities.

Mobility

Specification

Attribute

Velocity State Driver Attribute

Vector Driver Attribute

Ackerman Steering Attribute

Skid Steer Attribute

Gear Attribute

Stabilizer Attribute

Remote Control Attribute

Teleoperation Attribute

Remote Control Attribute

Video Attribute

Local Vector Driver Attribute

Global Vector Driver Attribute

Mobility Attribute

Platform Specification Attribute Report the Platform Specification inherent to the platform such as limits for speed and acceleration (not based on the mobility type).

Velocity State Driver Attribute Provides the ability to control the vehicle using closed loop velocity commands.

Vector Driver Attribute Provides the ability to perform closed loop control of the desired heading, altitude, and speed of a mobile platform.

Ackerman Steering Attribute Provides the ability to control Ackerman steered vehicles.

Skid Steer Attribute Provides the ability to control skid steer vehicles.

Gear Attribute Provides the ability to control the gears of a platform.

Stabilizer Attribute Provides the ability to control a platform stabilizer (i.e.

flippers).

Remote Control Attribute Provides services for performing basic, open loop, line of sight remote control of a vehicle.

Teleoperation Attribute

Provides the services for performing teleoperation control of a platform. Teleoperation is the non-line of sight equivalent to remote control, and requires the addition of a drive video source.

If you select the Vector Driver Attribute, you can specify a local vector driver, a global vector driver, or both.

Vector Driver Attribute

Select at least one of these attributes.

Local Vector Driver Attribute Provides the ability to perform closed loop control of the desired local heading, altitude, and speed of a mobile platform using local (non-GPS) coordinates.

Global Vector Driver Attribute Provides the ability to perform closed loop control of the desired global heading, altitude, and speed of a mobile platform using global (GPS) coordinates.

If you select the Teleoperation Attribute, you must also include the Remote Control Attribute and a Video Attribute.

Teleoperation Attribute Mandatory – you must include these attributes.

Attribute Description

M Remote Control Attribute Defines the capability to remotely control a vehicle, line of sight.

M Video Attribute Provides a method for interacting with a video source, such as a digital or analog camera or video from another source.

1.1.6 Specifying the Autonomy and Behaviors Attribute

The Autonomy and Behaviors Attribute reference attributes that provide higher level navigation capabilities for robots.

Autonomy and Behaviors Attribute

Waypoint Navigation Attribute

Leader/Follower Attribute

Retrotraverse Attribute

Guarded Teleoperation

Attribute

Lost Comms Management

Attribute

Local Path Segment Driver

Attribute

Global Path Segment Driver

Attribute

Global Basic Navigation Attribute

Local Basic Navigation Attribute

Global Enhanced Navigation Attribute

Local Enhanced Navigation Attribute

At Least One

Leader Attribute

Follower Attribute

Autonomy and Behaviors Attribute

Waypoint Navigation Attribute Defines the capability for navigation using waypoint path following.

Leader/Follower Attribute Defines the capability for navigation using a leader/follower configuration.

Retrotraverse Attribute Defines the capability to perform retrotraverse actions. A retrotraverse action causes a vehicle to move back along a path that it previously has travelled.

Guarded Teleop(eration) Attribute Defines the capability to define a guarded teleoperation policy that will be used for a platform.

Lost Comms Management Attribute Defines the capability to define a policy for when communications are lost between the platform and its controller.

Local Path Segment Driver Attribute Provides the ability to perform closed loop control of position and velocity along a path where the path is defined in a generic manner, using local (non-GPS) coordinates.

Global Path Segment Driver Attribute Provides the ability to perform closed loop control of position and velocity along a path where the path is defined in a generic manner, using global (GPS) coordinates.

Waypoint Navigation Attribute Defines the capability for navigation using waypoint path following.

Leader/Follower Attribute Defines the capability for navigation using a leader/follower configuration.

If you select the Waypoint Navigation Attribute, you must specify if it is global waypoint navigation, local waypoint navigation, or both.

Pose And Attitude Attribute

Select at least one of these attributes.

Global Basic Navigation Attribute Defines the capability for navigation using waypoint path following with globally referenced waypoints.

Local Basic Navigation Attribute Defines the capability for navigation using waypoint path following with locally referenced waypoints.

Global and local waypoint navigation also have enhanced navigation attributes that you can select to add additional waypoint information and status reports.

Global Basic Navigation Attribute Optional – select any number of these attributes.

Global Enhanced Navigation Attribute

Augments the Global Waypoint Navigation Attribute by adding more detailed waypoint information and waypoint execution status.

Local Basic Navigation Attribute

Local Enhanced Navigation Attribute Augments the Local Waypoint Navigation Attribute by adding more detailed waypoint information and waypoint execution status.

If you select the Leader/Follower Attribute, you must also include the Leader Attribute and the Follower Attribute.

Teleoperation Attribute Mandatory – you must include these attributes.

Attribute Description

M Leader Attribute Provides the capability to perform the leader portion of leader follow navigation, such as in a convoy.

M Follower Attribute Provides the capability to perform the follower portion of leader follow navigation, such as in a convoy.

1.1.7 Specifying the Sensor Attribute

The Sensor Attribute references attributes that specify capabilities for sensing the environment.

Sensor Attribute

Video Attribute

Still Image Attribute

Range Finder Attribute

Microphone Attribute

Tire Pressure Sensor Attribute

Acceleration State Sensor Attribute

Velocity State Sensor Attribute

Force/Torque Sensor Attribute

Digital Video Attribute

Analog Video Attribute

Pan Tilt Video Attribute

At Least One

Digital Video Push Attribute

Digital Video Pull Attribute

H264 Video Encoding Attribute

Mutually Exclusive

Microphone Pull Attribute

Microphone Push

Sensor Attribute

Video Attribute Provides the capability of interacting with video based sensors.

Still Image Attribute Provides the capability to configure and retrieve information from a still image source.

Range Finder Attribute

Provides the capability for getting information back from a range sensor. This may be either a simple range finder (one range, like a ranging laser) or a more complex range finder (like a LIDAR unit with many returns per second over a large azimuth).

Microphone Attribute

The Microphone Interoperability Attribute provides the capability to receive audio from a microphone device. It is assumed that the audio will be sent in a digital format.

Multiple microphones may be represented using this attribute.

Tire Pressure System Attribute Provides the capability to communicate, control and receive status from a tire pressure system.

Acceleration State Sensor Attribute Defines the capability to report acceleration state information.

Velocity State Sensor Attribute Defines the capability to report velocity state information.

Force/Torque Sensor Attribute Provides a way to get force or torque information from one or more devices.

If you select the Video Attribute, you must specify what type of video you want to use – digital or analog, or both. You can also specify a pan tilt video requirement.

Video Attribute

Select at least one of these attributes.

Digital Video Attribute

The Digital Video Interoperability Attribute provides a method for interacting with a digital video source, such as a digital camera or digital video from another digital source.

Multiple digital video sources (i.e. multiple cameras) may be represented using this attribute.

Analog Video Attribute Provides a method for interacting with an analog video source, such as an analog camera.

Optional – select any number of these attributes.

Pan Tilt Video Sensor Attribute Provides the capability to configure, control, and find/connect to a video device (analog or digital) that has pan tilt capabilities (i.e. a PTZ camera).

If you select digital video, you must also specify the push (AEODRS) or the pull (RTSP) method. H264 requirements must also be included – they define how H.264 formatted video is handled if it is present.

Digital Video Attribute

Mutually exclusive – select one and only one of these attributes.

Digital Video Pull Attribute Provides a method for interacting with an digital video source using the 'Pull' configuration.

Digital Video Push Attribute Provides a method for interacting with an digital video source using the 'Push' configuration.

Mandatory – you must include these attributes.

H264 Video Encoding Attribute If H264 video encoding is used, specifies services and requirements to support H.264 video encoding.

If you select the microphone attribute, you must also specify either or both of the pull method (RTSP) or push method (AEODRS).

Microphone Attribute

Select at least one of these attributes.

Microphone Pull Attribute

Provides the capability to receive audio from a microphone device. It is assumed that the audio will be sent in a digital format. The pull method uses an RTSP endpoint to serve up a digital stream over RTP, making the client pull the stream from a registered audio endpoint.

Microphone Push Attribute

Provides the capability to receive audio from a microphone device. It is assumed that the audio will be sent in a digital format. The push method tells the digital audio source what endpoint it should send audio to using RTP.

1.1.8 Specifying the Emitter Attribute

The Emitter Attribute reference attributes the specify requirements for devices that emit something, like light or sound.

Emitter Attribute

Illumination Attribute

Camera Lights Attribute

Speaker Attribute

Debris Blower Attribute

Speaker Push Attribute

Speaker Pull

Emitter Attribute

Illumination Attribute Provides the capability to interact with lights.

Camera Lights Attribute Provides a method for interacting with lights associated with one or more cameras.

Speaker Attribute

The Speaker Interoperability Attribute provides the capability to send audio that gets annunciated over a speaker. It is assumed that the audio will be sent in a digital format and converted to an analog signal if required by the speaker. Multiple speakers may be represented using this attribute.

Debris Blower Attribute Provides the capability to blow debris.

If you select the Speaker Attribute, you must choose one or both of the pull method (RTSP) or the push method (AEODRS).

Speaker Attribute

Select at least one of these attributes.

Speaker Pull Attribute

Provides the capability to send audio to a speaker device.

It is assumed that the audio will be sent in a digital format.

The pull method uses an RTSP endpoint to serve up a digital stream over RTP, making the speaker component pull the audio that it will play from a specified stream.

Speaker Push Attribute

Provides the capability to send audio to a speaker device.

It is assumed that the audio will be sent in a digital format.

The push method tells the client (i.e. OCU) where it should push audio data over RTP to.

1.1.9 Specifying the Actuator Attribute

The Actuator Attribute reference attributes that define requirements for actuated devices that are typically on a robot platform. These devices are primarily manipulators, but also include things like windshield wipers.

Actuator Attribute

Basic ManipulatorPan Tilt Manipulator

Mast Actuator

Advanced Manipulator

Attribute

Manipulator Joint Velocity Control

Attribute

Manipulator Joint Position Control

Attribute

Manipulator Joint Velocity Sensor

Attribute

Manipulator Joint Position Sensor

Attribute

Manipulator End Effector Velocity Control Attribute

Manipulator End Effector Velocity

State Sensor Attribute

Manipulator Joint Force/Torque

Sensor Attribute

Manipulator Joint Force/Torque Driver

Attribute

Basic End Effector Attribute

Complex End Effector Attribute

Windshield Wiper Attribute

Door Lock System Attribute

Manipulator End Effector Force/ Torque Sensor

Attribute Self-Collision

Avoidance Attribute

Pan Tilt Manipulator Position Control

Attribute

Pan Tilt Manipulator Velocity Control

Attribute

Pan Tilt Manipulator Velocity Sensor

Attribute

Pan Tilt Manipulator Position Sensor

Pan Tilt Actuator

Actuator Attribute

Basic Manipulator Attribute

Defines a basic manipulator controlled using open loop control. Attributes from the Actuator and Manipulator group can be added to provide closed loop velocity and position control, end effector based control, end effectors, and position and velocity sensing.

Pan Tilt Manipulator Attribute

Defines a basic pan tilt manipulator controlled using open loop control. Attributes from the Actuator and Manipulator group can be added to provide closed loop velocity and position control, and velocity and position sensing.

Mast Actuator Attribute Provides the capability to communicate, control, and receive status from a mast actuator.

Advanced Manipulator Attribute Defines the capability to “fly the end effector” using closed loop position control and reporting of an end effector.

Pan Tilt Manipulator Attribute Defines requirements common to all pan-tilt manipulator related services.

Manipulator Joint Velocity Control Attribute

Defines the capability to control manipulator joints using closed loop velocity control.

Manipulator Joint Position Control Attribute

Defines the capability to control manipulator joints using closed loop position control.

Manipulator Joint Velocity Sensor Attribute

Defines the capability to get velocity information for manipulator joints.

Manipulator Joint Position Sensor Attribute

Defines the capability to get position information for manipulator joints.

Manipulator End Effector Velocity Control Attribute

Defines the capability to “fly the end effector” using closed loop velocity commands.

Manipulator End Effector Velocity State Sensor Attribute

Defines the capability to get information on the velocity of the end effector.

Manipulator Joint Force/Torque Sensor Attribute

Provides the capability to report the values of instantaneous torques (for revolute joints) and forces (for prismatic) joints.

Manipulator Joint Force/Torque Driver Attribute

Provides the capability to add closed loop force (prismatic joint) or torque (revolute joint) control of a manipulator.

Basic End Effector Attribute Provides the capability to communicate, control, and receive status from a end-effector.

Complex End Effector Attribute Provides the capability to define a complex end effector beyond a simple one degree of freedom.

Windshield Wiper Attribute Provides the capability to communicate, control, and receive status from windshield wipers.

Door Lock System Attribute Provides the capability to communicate, control, and receive status from the door locking system on the robot.

Manipulator End Effector Force/Torque Sensor Attribute

Provides a way to get force or torque information from a manipulator end effector.

Self-Collision Avoidance Attribute Provides the capability to communicate, control, and receive status from a self-collision avoidance system.

If you select the Pan Tilt Manipulator Attribute, there are more advanced control mechanisms that you can select.

Pan Tilt Manipulator Attribute

Pan Tilt Actuator Attribute

Defines a basic pan tilt manipulator controlled using open loop control. Actuator attributes can be added to provide closed loop velocity and position control, and velocity and position sensing.

Pan Tilt Manipulator Position Control Attribute

Defines the capability to control a pan tilt manipulator using closed loop position control.

Pan Tilt Manipulator Velocity Control Attribute

Defines the capability to control a pan tilt manipulator using closed loop velocity control.

Pan Tilt Manipulator Velocity Sensor Attribute

Defines the capability to get velocity information for a pan tilt manipulator.

Pan Tilt Manipulator Position Sensor Attribute

Defines the capability to get position information for a pan tilt manipulator.

1.1.10 Specifying the Communications Attribute

The Communications Attribute references attributes that define requirements for configuring and getting status of a communications device, like a radio.

Communications

Communicator Attribute

Channel Status

Communications Attribute

Select at least one of these attributes.

Communicator Attribute Defines a capability to interact with a communications device, such as a radio, including configuring it.

Channel Status Attribute Defines a capability to get channel status information communications device, such as a radio. Provides a subset of the capabilities of the Communicator option.

1.1.11 Specifying Parameters

Many attributes define parameters. Parameters specify values that impact the requirements of a particular attribute, like specifying how long the drive timeout for mobility is. Most parameters have default values. You must specify the value for any parameter that does not have a default value or that you want to use a value other than the default value for.

1.1.12 Writing down an Instantiation – Compact Form

Once you have gone through the process of traversing the attribute “tree”, you will then want to express your instantiation. One compact way is to just list the leaf attributes without worrying about listing all of the branches – the leaf attributes by definition also include the requirements of their parents, and therefore listing them is equivalent to listing all their parents too. The figure below is a partial example of an IOP instantiation –it shows a breakdown of the mandatory attributes under the Core Software and Logical Attribute. The bolded attributes are attributes we have selected for our instantiation, either because they are mandatory or they are what we desired for our system requirements.

Using the compact form, it is very easy to define our instantiation – we simply list all the leaf attributes:

• Access Control Attribute

• Liveness Attribute

• Static Subsystem ID Attribute

• Static Node ID Assignment

• JUDP Attribute

• JAUS Hierarchy Rules Attribute

This listing, along with defining the values for any parameters that have no default value or that we want to use something other than the default value, is entirely sufficient to define an SAE JAUS Profiling Rules instantiation that includes all necessary requirements.