User Manual
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1. fg PR Create Requirement izard Fill in the requirement elements below Requirement Description Finish Cancel Figure 5 Create Requirement wizard Manage Requirement User can add modify and delete requirements using Manage Requirement feature This can be performed by clicking Manage Requirement button in the toolbar Afterward Manage Requirement wizard will appear D EaR n Aa Figure 6 Manage Requirements icon in the toolbar Manage Requirement Wizard Manage the requirement elements Add New Requirement List Requirements Details R1 Req Requirement description here Edit Requirement Remove Requirement Figure 7 Manage Requirement wizard Edit Requirement User can edit any created Requirements by selecting a Requirement from selection list and press Edit Requirement button afterward 2 Manage Requirement Wizard Manage the requirement elements Add New Requirement List Requirements Edit Requirement Name Req Description Cancel Figure 8 Edit Requirement view in Manage Requirement Wizard Add Behavior Tree Node feature We can add new BT node to the clipboard by clicking General BT Node label in the palette Add New BT Node wizard will appear User can select the Component Behavior Traceability Link Traceability Status and Operator for the node using five available combo boxes provided that the Requirement Component and Behavior have been2. User Manual I MHERE 2012 Agung Pratama Ardi Chairunnisa Atimas Emerson C Simbolon Ikhsanul Habibie Fakultas Ilmu Komputer Universitas Indonesia 2012 Table of contents aI Oo COMPCIICS a EA RE A A E AN E AN AR EAEAN AEI AIEN R EAR AE E 2 Features of GraphBT and how to use it W WoWo W W anna 3 ae Sa Kn 17 Features of GraphBT and how to use it Add Component Specifying a new Behavior Tree component in GraphBT can be performed by using add component feature User can specify a new BT component via Add Component button provided in the wizard that is used to create a new BT node After the button is pressed new wizard will appear and user can specify the name and reference of the created component Another way to add new component is by clicking Add New Component button located in the toolbar In this way we can define a new component without necessarily creating a new node Create Component Wizard Fill in the Component elements below Component Name Door Figure 1 Create Component wizard Add Behavior Adding new behavior can be accomplished after the respective component has been specified This can be performed in create new BT node wizard If the node is already associated with a component then user can add new behavior by pressing Add New Behavior button A new wizard will be invoked so that the user can specify the reference and name of the behavior Another way to this is by using Manage Comp
3. added via their respective add features In fg PR order to complete this Add BT Node feature at least a Component and one respective Behavior of the Component have to be selected from the combo box Palette S5 Connections Sequential Atomic 5 Stacked a General BT Node Figure 9 Select General BT Node label in the palette to create a new BT Node Create Standard Node Wizard Fill in the Behavior Tree node elements below Operator Name NoOperator Tacebit Suc Name Behavior Name Add New Component Add New Behavior Manage Components Add Requirernent Figure 10 User can specify a new BT Node in Create Standard Node wizard Add Behavior Tree Connection feature There are two types of connection in Behavior Tree specification sequential and atomic connection Both of these connections can be invoked from the connection list in the palette To connect two BT nodes either by sequential or atomic connection first select the connection from the palette and then click a BT node that is going to be connected and finally click another BT node Creates a new sequential edge between nodes General BT Node Figure 11 to create an edge between nodes click Sequential or Atomic label from the palette then click both nodes To create branching connection simply connect an already connected BT Node to another BT node After the new BT node target is connected a selection wizard will appear to select the bra
4. d on behavior tree from this window by clicking Add button The LTL formula acts as rule that must be fulfilled by behavior tree This formula is created based on behavior tree components and its behavior User can save the formulas or the verification result to file in the Project Explorer by tick check list on Verify model window Verify Model Verify the model of behavior tree using LTL formula Master formula list Using formula Fikereta kereta berjalan Fikereta kereta berjalan Option Save formula to file formula Save verification result to file Lmcresult View of Verify Model wizard When finish button performed verifying model of behavior tree is conducted It will produce file output with extension mcresult When the property is not fulfilled counter example represented bttrace format is produced as output User can add formula by clicking Add button in the Verify model window It will invoke Add formula window Here user writes the desired LTL formula Add formula window contains LTL formula operator buttons and Pick variables button to select appropriate LTL variable based on behavior tree specification Add Formula Added LTL formula to check model of behavior tree Write your LTL Formula below Fikereta kereta berjalan Select component and its behavior Here is LIL operators SPP w ak Ctl View of Add Formula window Pick LTL Variable Select th
5. e component and its behavior to form LTL variable List Components List Behavior Berjalan Details Components Masinis 77 MendekatiLampu Name Kereta Reference Cl Details Behaviors Name Berjalan Reference 1 Type StateRealization View of Pick LTL Variable window Debugging Tools User can also debug an already created BT diagram by clicking Debug BT Diagram button in the toolbar A new perspective will be opened In this perspective user can animate the Behavior Tree execution and monitor the execution sequence This feature will also inform user about the error found in the Behavior Tree design Be abauplatea Debug and simulate the model Figure 15 Debug and simulate BT icon in the toolbar ao Pel arvra Figure 16 View of debugger and simulation tool Gr State Viewer SG Name Kopling string not pushed Figure 17 state viewer for Debugger Case Study In this section we will show how to create a behavior tree from a real requirement using GraphBT Suppose we want to create an application called Mouse Mover Mouse mover is an application to move the mouse pointer Sometimes a computer setting will caused computer screen to be turned off if there is no interaction This program will cause the mouse to patrol to a certain location so then the computer always has interaction hence the monitor won t be turned off The requirement of Mouse Mover is shown below Ri The screen shows instruction to cho
6. ent Wizard Fill in the requirement elements below Requirement Name Patrol If the user chooses option 2 then the user is asked to input two coordinats in X1 YT and 42 2 After that the mouse moved from 41 11 to A2 2 repeatedly The mouse will stop moving when the user types any character to the screen Requirement Description Canc Figure 20 Create requirement Patrol for Mouse Mover pg PR Add New Reguirement List Requirements R1 Showlnstruction The screen shows instruction to choose between three options Option one move the mouse to one location only Option two patrol the mouse And option three to exit the program Edit Requirement Remove Requirement Requirement Compact View Figure 21 List of requirements for Mouse Mover Afterwards we can add the BT nodes which consist of two distinct Component Host and Mouse We can manually create the Components from the Add New Component button at the toolbar or from the Create New BT Node Wizard The image below will show how to create a BT node with have Host as Component and STRING_choose as Behavior and External Output as its type Y PR Create Component Wizard Fill in the Component elements below Figure 22 Creating Host as a new Component Create Be
7. havior Wizard Fill in the form below to add new Behavior to component Host Behavior Name STRING choose Figure 23 Creating STRING choose as new Behavior for Host Af v Jh The complete lists of Mouse Behavior is shown below Manage Components Wizard Manage component for the Behavior Tree ra aa ba move gt gt Kee gt gt Yee patrol stop Details Components Name Mouse Reference C1 Description Figure 24 List of Behaviors of Mouse List Components List Behavior lt lt STRING choose gt gt lt lt STRING 1 Point_to gt gt lt lt STRING 2 Patrol gt gt gt Simputs lt lt lt STRING_3 exit gt gt Biol Edit Tinput 3 Tinput 1 finput 2 lt lt STRING_masukan_X1 gt gt lt lt STRING masukan_ 1 gt gt Details Components Name Host Reference C2 Figure 25 List of Behavior for Host part 1 of 2 List Components List Behavior lt lt STRING_3 ext 7input 3 7input 1 Tinput 2 Edit 5TRING masukan 4155 lt lt STRING_ masukan Y1 5 lt lt STRING masukkan A25 lt lt STRING masukan Y255 lt lt STRING press any key to exit start Details Components Name Host Reference C2 Figure 26 List of Behavior for Host part 2 of 2 We then add all the required nodes until the all requirements are fulfilled The final diagram of this e
8. nch type either it is parallel or alternative branch Validate Behavior Tree QBdoabhamoaare The model is valid Figure 13 after validating the BT a message will appear to inform whether the BT is valid or not J1 After creating a Behavior Tree user can check whether the design is valid or not by pressing Validate BT button provided in the toolbar If the design is not valid an error message will appear and inform the user about the error Otherwise the message will inform that the design is valid Generate BT Code After the Tree is added to the diagram editor user can generate the bt code by pressing Generate BT Code button in the toolbar The generated BT code will then appear in the Project Explorer ado daang Generate the corresponding BT Code of the BE model Figure 14 Generate BT code icon in the toolbar Generate Java Code Verify Behavior Tree This feature is used to verify modeled reguirement in behavior tree For this need LTL formula needed to check whether the property of system fulfilled If fulfilled PROVEN output will be produced Otherwise counter example which shows the path of the system that causes the property is not fulfilled will be produced To verify behavior tree first user clicks Verify model button Las na a amp Verify model 1 Verify model icon in the toolbar Then Verify model window will be appears Then user can add LTL formula base
9. onent button in the toolbar which its use will be explained later E ov Create Behavior Wizard Fill in the form below to add new Behavior to component Kopling Behavior Type Behavior Name Behavior Ref Figure 2 Add Behavior wizard Manage Components BT Components and their respective behaviors can be managed using Manage Component Wizard which can be invoked by pressing Manage Component button in the toolbar In this wizard user can add new component delete existing component and modify a component name or reference When a component is selected the respective behavior list will be shown and can also be modified with the same fashion as their component aslidmuoara Figure 3 Manage Components icon in the toolbar Manage Components Wizard Manage components for the Behavior Tree List Components List Behavior Pushed Pushed lt a STRING_PUSHED gt gt not pushed STRING MOT PUSHED Details Components Name Kopling Reference C Figure 4 Manage Components wizard Add Requirement Adding new requirement can be performed in the same fashion with add component feature It can be done by pressing Add Requirement button of Create BT Node Wizard A new wizard for managing requirement will be invoked and user can add modify and delete requirements Choose button Add New Requirement in this wizard and then Requirement name Requirement reference and description text field will appear
10. ose between three options Option one move the mouse to one location only Option two patrol the mouse And option three to exit the program R2 If the user chooses option 1 then the user is asked to input a coordinates in X Y After that the mouse is moved to X Y and the screen displays the instruction again R3 If the user chooses option 2 then the user is asked to input two coordinates in X1 Y1 and X2 Y2 After that the mouse moved from X1 Y1 to X2 Y2 repeatedly The mouse will stop moving when the user types any character to the screen In order to create the behavior tree from Mouse Mover we will first import all the requirements Create Requirement Wizard Fill in the requirement elements below Requirement Name Showlnstruction The screen shows instruction to choose between three options Option one move the mouse to one location only Option two patrol the mouse And option three to exit the program Reguirement Description Figure 18 Create requirement Showlnstruction for Mouse Mover fy PR Create Requirement Wizard Fill in the requirement elements below Requirement Name Requirement Ref lf the user chooses option 1 then the user is asked to input a coordinat in X Y After that the mouse is moved to X Y and the screen displays the instruction again Requirement Description Figure 19 Create requirement Move for Mouse Mover Create Requirem
11. xample is shown below Figure 27 Complete Behavior Tree diagram for Mouse Mover part 1 of 6 Figure 28 Complete Behavior Tree diagram for Mouse Mover part 2 of 6 fp PR Figure 29 Complete Behavior Tree diagram for Mouse Mover part 3 of 6 Figure 30 Complete Behavior Tree diagram for Mouse Mover part 4 of 6 j Figure 31 Complete Behavior Tree diagram for Mouse Mover part 5 of 6 Figure 32 Complete Behavior Tree diagram for Mouse Mover part 6 of 6 sj
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