The specification would benefit in the future from an overview Package and UML Class diagram [class names only].

Two extra layers of Packages named “RoIS” around the Packages containing real model elements. While strictly speaking not wrong, those extra onion layers look a bit odd.

This Issue was not resolved in this Task Force and was automatically deferred to the next Task Force

The specification starts with an “Overview” section, that has useful information to understand the specification. However it is placed before Clause 1 “Scope” and therefore a bit misplaced, from a standards document layout point of view. It would be good if a follow-on RTF would place this material into a more appropriate location, preferably as a new, informative Clause 7 and move the existing Clauses 7 and higher up by one number.

The new Clause 7 should then be combined with the material from the existing Clause 7.2, which has good explanations, but is a bit misplaced in the middle of normative message and interface specifications.

This Issue was not resolved in this Task Force and was automatically deferred to the next Task Force

Methods "search," "bind" and "bind_any" may be extended for allocating
multiple components at once avoiding race condition.

This issue should be deferred to the future revision.

This issue is not discussed thoroughly and there are several opinions to resolve this so I propose to defer the issue to the future revision.

"Condition" is used in many interfaces and method, but it is difficult
to implement without example.

This issue should be deferred to the future revision.

This issue is not discussed thoroughly and there are several opinions to resolve this so I propose to defer the issue to the future revision.

Dependencies (Requisite conditions) among HRI Components should be
defined in HRI Profile.

This issue should be deferred to the future revision.

This issue is not discussed thoroughly and there are several opinions to resolve this. Though a resolution is partially described in a new example of Wheel Chair Robot in C.4 but
I propose to defer the issue to the future revision.

There are several errors in CORBA IDL in Section 7.7.2 which should be corrected.

1. missing typedefs such as DateTime and Integer.
2. several TYPOS such as extra semicolons and commas in typedefs and parameter list.

These should be corrected to conform to CORBA standard.

Correct errors in CORBA IDL files

CORBA PSM (CORBA IDL files) in Section 7.7.2 is corrected as follows:

1. missing typedefs are added in RoIS_HRI.idl (DateTime and Integer).
2. There are TYPOs such as extra commas and semicolons, and curly braces are misused which should be parentheses.

There are errors in C++ header files which should be corrected.

1. missing typedefs such as DateTime and Integer.
2. 'vector' is used without specifying its namespace, which should be 'std::vector'
3. a header file, RoIS_Person Identification.h, is included in the document twice.
4. several TYPOs such as extra commas at the end of parameters and misused curly braces which should be parentheses.

These should be corrected so that the header files can be compiled.

Correct errors in C++ headers

C++ PSM (C++ headers) in Section 7.7.1 is corrected as follows:

1. missing typedefs are added in RoIS_HRI.h (DateTime and Integer) and RoIS_Service.h (DateTime).
2. all the occurrences of 'vector' are modified as 'std::vector' to conform to C++ standard namespace.
3. RoIS_Person_Identification.h is included twice in the document so remove one.
4. There are TYPOs such as extra commas and semicolons at the end of parameter list, and curly braces are misused which should be parentheses.

A field "operable time" in System Information is defined as a single 'Date Time' value in ver.1.0, but service time (i.e. operable time) of a robot system may be described as multiple time spans, such as "9AM-5PM, Mon-Fri and 10AM-5PM, Sat&Sun".
Single 'Date Time' data type cannot deal with such use case so the data type of this field should be modified.

Parameter type of 'operable time' is modified to be a list of DateTime.

in Type of operable_type is changed to List<DateTime[ISO8601]>.

Reference to non-normative document [W3C-DT] is changed to [ISO8601] as the normative one.

1. Description of result 'operable time' in engine_status method in Table 7.37 in Chapter 7.6.1 is modified as follows.
2. Figure 17 is updated to conform to the description.

Robotic Localization Service (RLS) was revised after RoIS 1.0 was submitted so its reference is changed from 1.0 to 1.1.
Reference URLs in C++ header files are also changed accordingly.

Reference to RLS including C++ header files are updated from 1.0 to 1.1

To follow the revision of Robotic Localization Service (RLS), normative reference and reference URLs in C++ header files are updated.

1. In Section 3.1 (Normative References), version number is changed to 1.1 and its year is changed to 2012.
2. In Section 7.7.1 (C++ PSM), all the occurrences of reference URLs are changed to point to 'http://www.omg.org/spec/RLS/20110501/Architecture.hpp'

Definition of timestamp refers to non normative document [W3C-DT] in section 7.6.
It should refer to [ISO8601].

*Type 'DateTime [W3C-DT]' changed to 'DateTime[ISO8601]'. *

Definition of time stamp refers to non normative document [W3C-DT] in section 7.4.2.2, 7.4.3.4, 7.4.3.6 and through out the section 7.6. It should refer to [ISO8601].

This change affects: Table 7.6 (in section 7.4.2.2), Table 7.21 (in section 7.4.3.4), Table 7.23 (in section 7.4.3.6) and Table 7.37 through 7.46 (in section 7.6).

CORBA PSM fails to compile. It lacks proper typedef to imported types. It does not include RLS (and ISO19XXX) definitions as well as C++ PSM.

CORBA PSM fails to compile. It should implement data types imported from RLS 1.1.

Just as same as C++ PSM (issue ROIS11-39), CORBA PSM does not contain definitions of RLS (and ISO19XXX) related elements. The IDL files also lacks proper typedef to imported types.
As a solution RLS related element is implemented in RoIS_HRI.idl. Other IDL files modified to include RoIS_Common.idl (and indirectly RoIS_HRI.idl) to import corresponding types and then typedef definitions are added in each module.

RLS related definitions are included in five files: RoIS_Face_Localization.idl, RoIS_Navigation.idl, RoIS_Person_Localization.idl, RoIS_Sound_Localization.idl, RoIS_System_Information.idl.
Typedef of 'RoLo_DataSeq' is added to each module to define corresponding variables.
In addition, as a trivial revision, unnecessary 'public' label is removed from RoIS_Person_Identification.idl.

Even though RLS machine readable files are imported, RoIS C++ PSM is not able to compile because it does not contain ISO19XXX definitions.

C++ PSM should implement data types imported from RLS 1.1.

There are no definition of RLS 1.1 related elements in RoIS 1.1 C++ PSM. The machine consumable files are therefore incomplete to be compiled. Even though RLS machine readable files are imported, they does not implement ISO19XXX definitions.
As a possible and concise solution, the RLS-related definition(s) are implemented in RoIS_HRI.hpp, which is included by ALL other header files.

In addition to this issue, editorial fixes to RoIS11-31 are also included in the attachment file. #ifndef, #define directives were capitalized so modified them into lower-case.

Since the contribution from ATR was done under a research project of Ministry of Internal Affairs and Communication, Japan, both ATR and MIC should be listed in the supported by part of Acknowledgment.

Add an organization to Acknowledgment.

Since the contribution from ATR was done under a research project of Ministry of Internal Affairs and Communications, Japan, both ATR and MIC should be listed in the supported by part of Acknowledgment.

When validating FaceDetection.xml against the XML Schema dtc/15-06-11.xsd, a list of errors are reported.

• Attribute 'id' must appear on element 'rois:HRIComponentProfile'.
• Attribute 'codeSpace' must appear on element 'gml: identifier'.
• 'urn:x-rois:def:Component:OMG::RoISCommon' is not a valid name for 'NCName'.
• The value 'urn:x-rois:def:Component:OMG::RoISCommon' of element 'rois:SubComponentProifle' is not valid.
• Cannot resolve 'rois:EventDetailMessageProfileType' to a type definition for element 'rois:MessageProfile'.

Component Profiles are not valid against the XML Schema dtc/15-06-11.xsd.

When validating FaceDetection.xml against the XML Schema dtc/15-06-11.xsd, a list of errors are reported.

• Attribute 'id' must appear on element 'rois:HRIComponentProfile'.
• Attribute 'codeSpace' must appear on element 'gml: identifier'.
• 'urn:x-rois:def:Component:OMG::RoISCommon' is not a valid name for 'NCName'.
• The value 'urn:x-rois:def:Component:OMG::RoISCommon' of element 'rois:SubComponentProifle' is not valid.
• Cannot resolve 'rois:EventDetailMessageProfileType' to a type definition for element 'rois:MessageProfile'.

The section 7.7.3 XML PSM is newlly added in this RTF according to the issue RoIS11-19. Since this issue is also applied to the newly added section, the modifications do not appear in the specification changebar file.

The set of C++ header files included lack proper include protection. [From a procedural point of view this is considered as an editorial correction since their technical content is identical with the files resulting from the revision process.]

Also, each C++ header specifies its own namespace, which reflects the name of the header. While this is not wrong, it would be advisable to make those namespaces more unique, for example with a “rois” prefix, or enclose them within an outer rois namespace. [this is a suggestion for the future and not an error in the current revision]

C++/CORBA PSMs lack Include protection.

The set of C++ header files included lack proper include protection. From a procedural point of view this is considered as an editorial correction since their technical content is identical with the files resulting from the revision process.

In RoISCommon.xml (and other xml files) are empty comments for "Event Message", "Error Message" and "Parameter". [This is not per se wrong but cosmetically not so pleasing. If you choose to remove them, that would be editorial]

Empty comments in XML files should be removed.

In RoISCommon.xml (and other xml files) are empty comments for "Event Message", "Error Message" and "Parameter". This is not per se wrong but cosmetically not so pleasing. Removal of them would be editorial.

The section 7.7.3 XML PSM is newlly added in this RTF according to the issue RoIS11-19. Since this issue is also applied to the newly added section, the modifications do not appear in the specification changebar file.

RoIS 1.0 refers to UML 2.3 as a normative reference. It should refer to UML 2.4.1 (dated version 20110701).

Reference to UML specification should be updated from 2.3 to 2.4.1.

RoIS 1.0 refers to UML 2.3 as a normative reference. It should refer to UML 2.4.1 (dated version 20110701).

XML Profiles of Basic Component is missing. To be added as a part of PSM as well as C++/CORBA PSM.

Add a section of XML Component Profile as a PSM.

In RoIS 1.0, section 7.7.3 describes XML schema definition of HRI Component Profile but examples of Component Profiles of Basic HRI Component in XML is missing. (partly shown in Appendix A.)

Here I propose to insert a new section of 'XML PSM' as section 7.7.3 with attached XML profiles, as well as C++/CORBA PSM in the previous sections.

Rename the current 7.7.3 as '7.7.4 XML PSM of Component Profile Schema.'

As a new example of User-defined HRI Component, WheelChairComponent was proposed in 2014 Boston meeting and it was suitable to be added as section C.4.

A new example of WheelChairComponent was added as section C.4.

A new example of WheelChairRobot component that extends existing Navigation component was proposed as Section C.4.

As well as the fix of DateTime in Section 7.6, DateTime should refer to [ISO8601] instead of [W3C-DT] through Section C.

DateTime modified through Section C.

Definitions of time stamp refers to non normative document [W3C-DT] are modified to refer to [ISO8601].

In Table C.1, definitions of parameter timestamp, timestamp_speech_start and timestamp_speech_end were modified.
Other timestamps in Table C.4 and Table C.5 were also modified.

In the definition of Move component in C++ PSM, List is used instead of vector.
Other part in the C++ PSM consistently use vector and there seems no reason to use List.

Use of List in C++ PSM is modified to vector.

In the C++ PSM, use vector consistently instead of List.
Use of List in the definition of Move Component (Move.h) are replaced with vector.

In the definition of Person Localization component, get_parameter method should return two parameters such as detection threshold and detection interval.
The former is duplicated and the latter is missing.

Missing parameter 'minimum interval.'

As result values of get_parameter method of Person Localization component, definition of 'minimum interval' parameter was missing but 'detection threshold' was duplicated.
A parameter 'minimum interval' should be defined here.

1. Description of result value 'minimum interval' in get_parameter method in Table 7.39 in Chapter 7.6.3 is modified as follows.
2. Figure 19 is updated to conform to the description.