UML State Machine Diagram.Design Elements

"RT-middleware (Robotics Technology Middleware) is a common platform standards for Robots based on the distributed object technology. RT-middleware supports the construction of various networked robotic systems by the integration of various network enabled robotic elements called RT-Components. The specification standard of the RT-component is discussed / defined by the Object Management Group (OMG). ...
In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting those RT-components. This distributed architecture helps developers to re-use the robotic elements, and boosts the reliability of the robotic system.
Each RT-component has port as an endpoint for communicating other RT-components. Every port has its type and the ports which have the same type can be connected each other.
RT-components also has its state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR, and the states and behaviors are controlled by the execution-context. If developers want to change the behavior of their RT-components, the execution-context can be replaced at run-time." [RT middleware. Wikipedia]
The UML state machine diagram example "State transitions of RT-component" was created using the ConceptDraw PRO diagramming and vector drawing software extended with the Rapid UML solution from the Software Development area of ConceptDraw Solution Park.

"State machine diagram is a behavior diagram which shows discrete behavior of a part of designed system through finite state transitions. State machine diagrams can also be used to express the usage protocol of part of a system. Two kinds of state machines defined in UML 2.4 are:
(1) behavioral state machine, and
(2) protocol state machine.
The following nodes and edges are typically drawn in state machine diagram: behavioral state, behavioral transition, protocol state, protocol transition, different pseudostates. ...
Behavioral state machine is specialization of behavior and is used to specify discrete behavior of a part of designed system through finite state transitions. The state machine formalism used in this case is an object-based variant of Harel statecharts.
Behavior is modeled as a traversal of a graph of state nodes connected with transitions. Transitions are triggered by the dispatching of series of events. During the traversal, the state machine could also execute some activities. ...
Protocol state machine is a specialization of behavioral state machine and is used to express usage protocol or lifecycle of a classifier. It specifies which operations of the classifier can be called in which state and under which condition, thus specifying the allowed call sequences on the classifier’s operations. Protocol state machines express the legal transitions that a classifier can trigger." [uml-diagrams.org/ state-machine-diagrams.html]
The template "UML state machine diagram" for the ConceptDraw PRO diagramming and vector drawing software is included in the Rapid UML solution from the Software Development area of ConceptDraw Solution Park.
www.conceptdraw.com/ solution-park/ software-uml