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：机器人系统是典型的信息物理系统(CPS)，通常配备多个传感器与执行器。近年来仿真技术的发展促进了数字孪生(DT)概念的实现。然而，DT在机器人系统开发中的应用（如开发中测试）尚不明确。在系统开发过程中，其组件会经历从仿真模型到实际物理设备的演化，并运行部署于真实硬件上的软件。因此，需要一种设计工具和灵活的开发流程来确保仿真部分与物理部分的完整性。本文旨在最大化CPS中仿真与物理组件在不同配置下的集成度，集成度越高，基于仿真的物理部分（硬件与软件）测试覆盖率就越好。我们提出了一种基于系统建模语言(SysML)的领域特定语言(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，这类CPS至少包含物理部分或仿真部分，其中仿真部分可为数字孪生。我们提出SPSys开发流程(SPSysDP)，通过评估所定义的关键因子来最大化SPSys的仿真-物理完整性。该流程已应用于INCARE项目中复杂机器人系统的开发，通过多轮迭代逐步提升系统完整性，最终使系统模型组件数量减少，且不同系统配置间共享组件比例显著提高。我们在机器人操作系统(ROS)和Gazebo仿真器上完成了系统实现与测试。实验表明，SPSysML结合SPSysDP能够有效设计SPSys（含DT和CPS），支持多配置系统开发，并实现各配置中仿真与物理组件的最大化集成。