English def. | Meaning |
ActuatorSystem | System:ActuatorSystem : Electromechanical system, including mechanical and software components, to move and control a mechanism or a system. It is operated by a source of energy, usually in the form of an electric current, hydraulic fluid pressure or pneumatic pressure, and converts that energy into some kind of motion. It is commanded and controlled through a driver or regulator device commonly included in the Actuator System definition. IMPORTANT WARNINGS : In the scope of PROTEUS project the following comments are added : - When the Actuator word is used alone, it means the Actuator System includes only one non decomposable software and one non decomposable hardware. In this case, it is sometimes called motorisation or effector. - Care is to be taken between the Motorisation System, able to move the robot or part of it and the different other Actuators Systems able to interact with the environment. These other Actuators Systems can be called Payload systems, Operational systems, Mission modules, etc. (as an example, NRBC, Weapons, Communications, etc.). Wikipedia: Mechanical device for moving or controlling a mechanism or a system. It is operated by a source of energy, usually in the form of an electric current, hydraulic fluid pressure or pneumatic pressure, and converts that energy into some kind of motion. Random House Dictionary: a servomechanism that supplies and transmits a measured amount of energy for the operation of another mechanism or system. Merriam Webster: a mechanical device for moving or controlling something |
Algorithmic module | It is an application that is not executable by itself but can be composed through tooling such as the PROTEUS main tool. |
Application level | JPR & ALFUS Highest level on the Sensory Processing or the Decision Process. Give or define knowledge directly at the task level according to meaning and understanding commonly used in a particular domain.(Intelligence, knowledge, combat and actionable information for instance), further processed for particular mission needs and directly linked to tactical behaviours |
Assessment | See Evaluation |
Benchmark | It is a “problem” associated to a reference “solution”. Every of the other solutions coming after will be compared to this “benchmark”. |
Challenge Provider | The Challenge Provider defines the scenario, problem, configurations and metrics |
Challenger | The Challenger provides a Solution to a Problem |
Classification | Random House Dictionary The act of classifying the result of classifying or being classified. Classifying: to arrange or organize by classes; order according toclass. Merriam Webster systematic arrangement in groups or categories according to established criteria. |
Communication Middleware | It is an “application” that inside the “simulator” takes in charge the communications between the “robotic middleware” and the “environment simulator” |
Communication System | A communication system is used to exchange data (files, messages, orders, status,etc.) in text, audio and/or video or other more or less specific formats between different computers, tasks, users and/or agents. |
Configuration | A configuration is composed of: - initial state of the problem and solution - list of external module libraries - probe definitions - simulator and middleware choices |
Control station | A control station (CS) is a control centre that provides the facilities for human control of robots in the Environment. |
Detection | AtomicSystem:PhysicDevice:SensorHardware:ObjectDetectionSystem - Hardware for the detection of physical entities in the surrounding environment. Telemeter laser, Radar, etc... Merriam Webster & Random House Dictionary: The act of detecting Detecting: to discover or determine the existence, presence or fact of. |
Environment | The Environment groups everything that exist. Nothing is outside and everything lives in it. An alias for environment could be Universe or World in an ontology meaning. This is the highest possible "container" for the physical objects to exist. Considering the scenario to be represented using this concept it expresses also the boundary we imagine for the problem. As an example, for a mobile on ground robot there is no need to represent anything concerning water. The difference between physical objects and the environment is that the Physical Interaction are part only of the latter and propagated into it. Important remark : Please be care in using the complete and right formulation when you have to speak about specific environments as Environment Simulator, Software Development Environment or any other equivalent items. The word Environment used alone only refers to the surrounding of the systems: natural, artificial, human, animal, plant, mineral, or any items that may interact with the robot. |
Environment Simulator | It is an “application” that inside the “simulator” takes in charge whatever is not the “robot(s)' system”. |
Evaluation | The evaluation of a solution consists in applying the metrics to the results of one or more executions (each execution corresponds to a configuration) |
External Communication | An external communications system is a collection of individual communications networks, transmission systems, relay stations, tributary stations, and data terminal equipment (DTE) usually capable of interconnection and interoperation to form an integrated whole. The components of a communications system serve a common purpose, are technically compatible, use common procedures, respond to controls, and operate in unison. There are used to transmit order, status, data and/or video signals between Mobil Platform(s) and/or Operator Control Unit(s) |
Framework | A incomplete software entity that allows to build an application |
Guidance | Merriam Webster The act or process of guiding Guiding: to act as a guide to direct in a way or course. A device for steadying or directing the motion of something. Random House Dictionary The process by which the flight of a missile or rocket may be altered in speed and direction in response to controls situated either wholly in the projectile or partly at a bas |
Identification | Random House Dictionary An act or instance of identifying Identifying: to recognize or establish as being a particular person, component or thing. Merriam Webster An act of identifying Identifying : to establish the identity of |
Levels of Cognizance | JPR & ALFUS The levels of what a UMS can know or understand based on its sensory processing capability. Three levels are defined in PROTEUS (Raw data, Physical level and Application level) |
Levels of Fusion | JPR & ALFUS Fusion data processing tasks decomposition. Each of the defined levels of fusion adds progressively greater meaning and involves more Analysis. The numbers of fusion levels and their meaning is currently not defined in PROTEUS |
Levels of Perception | JPR & ALFUS The progressive results of sensory information after the data have gone through multiple levels of sensory processing. The numbers of Levels of perception and their definition is currently not defined in PROTEUS |
Localisation | See ontology – system:roboticSubSystem:deviceSystem:sensorSystem:localizationSensorSystem (no def.) |
Metric | A “metric” is the composition of one or multiple “probes”' recordings associated to a validity domain in order to allow a measure of performances. A “metric” can be related to multiple records provided by multiple “simulations”. This is often the case of statistical approach to assessment. |
Mission | JPR & ALFUS The highest-level task assigned to the UMS. |
Mission Coordination | JPR & ALFUS Coordination and timing management of the Motion Planning and the Mission Payload during the Mission execution & Control |
Mission Execution & Control | JPR & ALFUS It is in charge of the execution and the control of the Mission Plan. |
Mission Module | See Mission Payload |
Mission Payload | See Mission Module JPR & ALFUS Payload(s) to be used to complete a specific Mission. |
Mission Plan | JPR & ALFUS file describing the tasks to be done and the relationships between these tasks The Mission Plan can be generated either in advance by operators on an OCU or in real-time by the on board, eventually distributed software systems. The Mission Pan is the main input for the Mission Execution & Control. The Mission Plan address the three following task:
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Mission Planning | JPR & ALFUS The mission planning is the process used to generate tactical goals, a route (general or specific), commanding structure, coordination, and timing for one or teams of UMSs. The result of the Mission Planning is a Mission Plan. The Mission Planning involves two main sub functions:
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Mission Preparation | JPR & ALFUS It generates the Mission Plan used to describe the entire tasks to be done in order to execute the mission. |
Mobility | JPR & ALFUS The capability of a UMS to move from place to place, with its own power and while under any mode or method of control. This function receive high level, motion set points expressed in term of speed, steer or equivalent and compute the physical actuators sets points according to the addressed platform. |
Motion Plan | JPR & ALFUS It includes the results of the Motion Planning and it is used as input by the Guidance. |
Motion Planning | See Trajectory planning JPR & ALFUS Define the route (general or specific) to be used for doing the mission. The route description and characteristics is stored in the Motion Plan.
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Motorisation System | Electromechanical system, including motors, reducers, mechanical transmissions and software drivers used to move the robot or a part of it. It has to be clearly differentiated from other embedded Actuators Systems. |
Ontology | Data obeying the W3C standard and used to represent knowledges |
Payload | Wikipedia In military aircraft or space exploration, the payload is the carrying capacity of an aircraft or space ship, including cargo, weapons, munitions, scientific instruments or experiments. By extension “Payload” can be used to name all the carried systems used to complete a specific mission. In this case, scientific instrument or experiment as to be understood as any instruments for measurements or action, carried on the robotic platform. JPR & ALFUS A self-contained subsystem installed on a UMS that enables the UMS to perform designed missions. It can be easily installed and replaced by another type of mission module |
Payload Level |
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Perception | Wikipedia: Perception is the process of attaining awareness or understanding of Sensory Information from Sensors through Sensory Processing |
Physical level | JPR & ALFUS information. Further processed, refined and structured data that is human understandable (length, angle, distance, and others basic physical dimensions) |
Platform Level |
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Platform Supervisor | In charge of the control of the behaviour of the platform. This supervisory function doesn’t directly address the security of the platform (See Platform security) but the logical consistency of the platform (physical states, logical modes, receive orders) |
Platform Security | In charge of the security of the platform. The basic security of the platform must be done through an hardware system (more or less complex), but as we have to face to complex system we can consider using a specific software component in charge of the security of the platform and involving some events not directly coming from the “hardware safety component” but that could be generated, as an example, by the perception (enemy, external hazard). |
Probe | A probe observes the state of systems and produces results. It is one of the tool of the “simulator”. A software “probe” is a definition of what variables will have to be accessed when executing the “simulator” in order to record their values. |
Problem | A problem is: - the definition of the architecture of one or more robots and their environment (in our case, using the proteus main tool); - the definition inside the robot(s) architecture of one or multiple components in which it is necessary to develop “solutions”; - the definition of “probes” that allow “simulation” exploitation; - the definition of the “metrics” and their associated validity domain in order to measure the “solution” quality and compare it to other “solutions”. |
Proteus Simulator | Simulator which hosts a problem. |
Raw Data | JPR & ALFUS data, or observed data. In initially processed forms after measured by sensors. Wikipedia Raw data is a term for data collected on source which has not been subjected to processing or any other manipulation; it is also known as primary data. Raw data is data that has not been already processed for use, but it could have been proceed in order to get useable and understandable value as volts, amperes or any other basic physical values instead of simple binary out scale number. |
Recognition | Merriam Webster + Random House Dictionary an act of recognizing or the state of being recognized , the identification of something as having been previously seen, heard, known, etc., theperception of something as existing or true; realization Recognizing to identify as something or someone previously seen, known, etc, to identify from knowledge of appearance or characteristics, to perceive as existing or true; realize: to be the first to recognize a fact. |
Regulator System | A Regulator System or Regulator is a device, including hardware and software, which has the function of maintaining and monitoring a designated characteristic of a system (Actuator, Motorisation or Sensor System). It can be used generally to connote any set of various controls or devices for regulating or controlling items or objects. |
Robot | An electromechanical system that can react to sensory input and carry out predetermined missions. A robot is typically equipped with one or more tools or certain capabilities. (See Unmanned System) |
Robotic Middleware | Software framework which hosts completely or partly the software system of a Robot. It is an application that is executed either on an actual robot system or in a computer and that allows the execution of control robot applications. |
Robotic system of systems | System of systems is a collection of task-oriented or dedicated systems that pool their resources and capabilities together to obtain a new, more complex, 'meta-system' which offers more functionality and performance than simply the sum of the constituent systems. Currently, systems of systems is a critical research discipline for which frames of reference, thought processes, quantitative analysis, tools, and design methods are incomplete. The methodology for defining, abstracting, modelling, and analysing system of systems problems is typically referred to as system of systems engineering. A “robotic system of systems” is a specialised system of systems where there is at least one “robot”, one “control station” and one “human agent”. |
Ontology | Data consistent with the W3C standard and usually used to describe knowledge. It can be used in theP ROTEUS context as a way to describe formally knowledge even if not using W3C standard |
Robot Platform | Mobile part of a Robotic system. |
Robotic system | System including one or several Robots. |
Scenario | Cadre opérationnel dans lequel est défini un problème |
Sensor | JPR & ALFUS Equipment that detects, measures, and/or records physical phenomena, and indicates objects and activities by means of energy or particles emitted, reflected, or modified by the objects and activities. |
Sequencer | It is an “evolution model” that allows to sort tasks to be executed in order to know when they will be executed. |
Simulation | Result of the “simulator” execution got through the “probes” put into the “simulator” either statically or dynamically. |
Simulator | It is an application that in PROTEUS context must be generated by the platform and that after a configuration phase is executed dans le cadre d'un « problème », c'est le développement d'un algorithme pouvant lui même comporter une architecture et permettant lors de l'exécution du « simulateur » d'obtenir des valeurs pour les « métriques » définis lors de la constitution du « problème ». Amener une « solution » consiste donc à confronter son algorithme à la « métrique » à travers le « simulateur » par les « simulations » obtenues; |
Solution | In a “problem” context, it is an “algorithm” itself possibly integrating an “architecture” that allows during the execution of a “simulator” to extract values from the defined “metrics” that remains in their validity domain. Subpart of interest in the software system of a robot. Its implementation is provided by a Challenger. |
Synchroniser | It is an “evolution model” that allows to synchronise tasks execution with respect to time |
Target | it is the “simulator” that is generated by the platform and that includes everything needed by the “competitor” to verify / assess its contribution |
Trajectory Planning | See Motion planning |
Unmanned system | JPR & ALFUS An electro-mechanical system, with no human operator aboard, that is able to exert its power to perform designed missions. It may be mobile or stationary and includes the following categories: unmanned ground vehicles (UGV), unmanned aerial vehicles (UAV), unmanned underwater vehicles (UUV), unmanned surface vehicles (USV), unattended munitions (UM), and unattended ground sensors (UGS).(See Robot) |
Wrapper | It is an “application” that allows another “application” to use “Algorithmic modules” |