Diagramming Software for Design UML State Machine Diagrams

This example was redesigned from the Wikimedia Commons file: UML state diagram.png.
[commons.wikimedia.org/ wiki/ File:UML_ state_ diagram.png]
This file is licensed under the Creative Commons Attribution-Share Alike 3.0 Unported license. [creativecommons.org/ licenses/ by-sa/ 3.0/ deed.en]
"The StateMachine package defines a set of concepts that can be used for modeling discrete behavior through finite state transition systems. The state machine represents behavior as the state history of an object in terms of its transitions and states. The activities that are invoked during the transition, entry, and exit of the states are specified along with the associated event and guard conditions. Activities that are invoked while in the state are specified as “do Activities,” and can be either continuous or discrete. A composite state has nested states that can be sequential or concurrent.
The UML concept of protocol state machines is excluded from SysML to reduce the complexity of the language.
The standard UML state machine concept (called behavior state machines in UML) are thought to be sufficient for expressing protocols." [omg.org/ spec/ SysML/ 1.3/ PDF]
The example "State machine diagram" was drawn using the ConceptDraw PRO diagramming and vector drawing software extended with the SysML solution from the Software Development area of ConceptDraw Solution Park.

"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.