In parallel, we have created a series of internal block diagrams (IBDs) modeling the connections between parts and the flows along those connections. The structural block diagrams in Figure 1 and Figure 2 are only one view of the UGV.
SysML offers multiple ways to model a multi-configuration system, including specializations and product-line variants, but for this example, we are only modeling this specific configuration. All these systems are tied together by data and power distribution busses, which extend out to the payload systems.įigure 2 Rhapsody SysML Block Definition Diagram, UGV payload systemsįigure 2 describes the payload structure for a particular configuration of the UGV, with a 5-axis manipulator arm in the front position and a combination visual/IR camera array on a 2-axis arm in the rear position. There is also an Accessory Controller for other internal systems. The Communication Controller handles communications security and compression for remote operation. The main Onboard Controller is responsible for movement and payload operation, with capability for some autonomy. The UGV also contains three separate controllers within the body armor. The communications system allows for direct radio control and monitoring by a remote operator and a body-mounted speaker/microphone for audio communication with humans accompanying the UGV. There are six independent drive systems, three on each side, connected by two tracks. It consists of an armored body/drive system and two interchangeable payloads, which attach to the top of the body at standard mechanical mounting points and electrical connectors.įigure 1 Rhapsody SysML Block Definition Diagram, UGV primary systemsĪ SysML block definition diagram of the main body (Figure 1) contains the batteries, drive and communication systems, and electronics suite, as well as some of the structural elements. The overall design is for a configurable unmanned ground vehicle (UGV), similar to the designs often used for bomb disposal and other hazardous applications. Links to both models are given at the end of this post. Because we showed diagrams from the MagicDraw version in the previous parts, we will illustrate this part with diagrams created in IBM Rational Rhapsody. However, after publication of the first three parts of this series, readers expressed interest in the SysML models used in the example, so we are making them available, along with a brief overview of the key sections. The emphasis in this blog series has been on “Requirements by Geometry”, the integration of requirements, architecture and 3D mechanical CAD models using MBSE.
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