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信息物理系统（CPS），通常配备多种传感器与执行器。近期仿真方法使数字孪生（DT）概念得以实现，但DT在机器人系统开发中的应用（如开发中测试）仍不明确。在系统开发过程中，其组件从仿真模型演进为部署实际硬件软件的物理实体。因此，需要一种设计工具与灵活的开发流程来确保仿真与物理部分的完整性。我们旨在最大化CPS中仿真部分与物理部分在不同配置下的集成程度。集成度越高，基于仿真的物理部分（硬件与软件）测试覆盖率就越高。基于系统建模语言（SysML），我们提出一种领域特定语言（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）的分类体系——SPSys是至少包含物理或仿真部分的CPS，其中仿真部分可为数字孪生。我们提出一种SPSys开发流程（SPSysDP），通过评估所提出的量化因子来最大化SPSys的仿真-物理完整性。该流程被用于开发INCARE项目的复杂机器人系统。在SPSysDP的迭代过程中，系统的仿真-物理完整性逐步提升，最终系统模型包含更少组件，且更大比例的组件在不同系统配置间共享。我们采用主流框架机器人操作系统（ROS）与Gazebo仿真器实现并测试该系统。SPSysML与SPSysDP支持SPSys（包括DT与CPS）设计，实现多配置系统开发，并在各配置中最大化仿真与物理部分的完整性。