Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS's simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.
翻译：机器人系统是复杂的物理系统，通常配备多个传感器和执行机构。最近的模拟方法使数字孪生（DT）概念得以实现。然而，机器人系统开发中DT的应用，例如开发测试，仍不清楚。在系统开发过程中，其部件从模拟模型逐渐演化为运行在实际硬件上的软件。因此，需要一种设计工具和灵活的开发过程来确保模拟和物理部分的完整性。我们的目标是在各种设置中最大限度地整合CPS的仿真和物理部分。整合得越好，对物理部分（硬件和软件）的基于仿真的测试覆盖范围就越好。我们提出了一种基于系统建模语言（SysML）的领域规范语言（DSL），称为SPSysML（仿真-物理系统建模语言）。SPSysML定义了仿真-物理系统（SPSys）的分类法，它是由至少一个物理部分或仿真部分组成的CPS。特别是，仿真部分可以是数字孪生。我们提出了一种SPSys开发过程（SPSysDP），通过评估所提出的因素，使SPSys的仿真和物理部分的完整性最大化。我们使用SPSysDP开发了INCARE项目的复杂机器人系统。在SPSysDP的后续迭代中，系统的仿真-物理完整性被最大化。结果，系统模型包含更少的组件，并且更大比例的系统组件在各种系统设置之间共享。我们使用流行的框架Robot Operating System（ROS）和Gazebo模拟器来实现和测试系统。SPSysML与SPSysDP可以设计SPSys（包括数字孪生和CPS），具有最大化不同设置的仿真和物理部分间完整性的多设置系统开发。
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