Diplomarbeit Doku 031217_final_2 - Universität Bremen

7. Simulation der Umgebungserfassung anhand von Beispielszenarien
M F,det =
IsInFreePos( Ro.1 )
ContainerAccessible( MO.1 )
IsPlacedOn( Pl.1, Ta.1 )
IsInsideContainer( Pl.1, MO.1 )
IsInPlacedPos( Pl.1, Ta.1, FreePlacePos )
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontButton )
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontDoor )
HasEmptyStoringSpace( MO.1 )
Situations still possible (8):
S 1 , S 2 , S 3 , S 4 , S 8 , S 9 , S 10 , S 11
Determining IsInFreePos( Ro.1 )
Executing FAC_COP_IsInFreePos.1( Ro.1 )
MON.IsInFreePos( Ro.1 ) = TRUE
IT.FacDeterminedTrue( )
Result:
IsInFreePos( Ro.1 ) = True E H = 0 E K = 20
Logical Conclusion returns 2 Fact(s):
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontButton ) = False
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontDoor ) = False
M F,SI =
HoldsNothing( Ro.1 ) = True [Source: Mon]
IsGripped( Ro.1, Pl.1 ) = False [Source: Log]
IsInFreePos( Ro.1 ) = True [Source: Mon]
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontButton ) = False [Source: Log]
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontDoor ) = False [Source: Log]
M F,det =
ContainerAccessible( MO.1 )
IsPlacedOn( Pl.1, Ta.1 )
IsInsideContainer( Pl.1, MO.1 )
IsInPlacedPos( Pl.1, Ta.1, FreePlacePos )
HasEmptyStoringSpace( MO.1 )
Situations still possible (4):
S 1 , S 4 , S 8 , S 11
Determining ContainerAccessible( MO.1 )
Executing FAC_COP_ContainerAccessible.1( MO.1 )
SearchPosSCam( MO.1.EEL.PosSCam ) = Success
MON.ContainerIsAccessible( MO.1.EEL.PosSCam ) = TRUE
IT.FacDeterminedTrue( )
Result:
ContainerAccessible( MO.1 ) = True E H = 10 E K = 30
Logical Conclusion returns 0 Fact(s):
M F,SI =
HoldsNothing( Ro.1 ) = True [Source: Mon]
IsGripped( Ro.1, Pl.1 ) = False [Source: Log]
IsInFreePos( Ro.1 ) = True [Source: Mon]
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontButton ) = False [Source: Log]
GripperIsInRelPos( Ro.1, MO.1, GripperInFrontDoor ) = False [Source: Log]
ContainerAccessible( MO.1 ) = True [Source: Mon]
M F,det =
IsPlacedOn( Pl.1, Ta.1 )
IsInsideContainer( Pl.1, MO.1 )
IsInPlacedPos( Pl.1, Ta.1, FreePlacePos )
HasEmptyStoringSpace( MO.1 )
Situations still possible (2):
S 4 , S 8
Determining IsPlacedOn( Pl.1, Ta.1 )
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