mar/graphics/robmosys.tex

\documentclass{standalone}
\usepackage{tikz}
\usepackage{siltex}
\usetikzlibrary {arrows.meta,positioning}

\begin{document}

\begin{tikzpicture}[on grid,y=1.5cm,x=2.24cm, nodes={text height=.7em, text width=1.8cm, align=center,
draw=black!20, thick, fill=white, font=\footnotesize},
>={Stealth[round,sep]}, rounded corners, semithick]
    \node (a) at (0,0) {Mission};
    \node (b) at (0,-1) {Task};
    \node (c) at (0,-2) {Skill};
    \node (d) at (0,-3) {Service};
    \node (e) at (0,-4) {Component};

    \begin{scope}[shift={(2.596cm,0)}]
        %\draw[fill=lightgray] (-0.6, 0.4) rectangle (4.6,-3.4);
        \node (A) at (2.5,0) {Draw a tweet on a board};
        \node (B) at (2,-1) {Writing};
        \node (C) at (3,-1) {Wiping};
        \node (D) at (0,-2) {Write char at position};
        \node (E) at (1,-2) {Wipe area};
        \node (F) at (2,-2) {Hold Marker};
        \node (G) at (3,-2) {Hold Wiper};
        \node (H) at (4,-2) {Move to Position};
        \node (I) at (0,-3) {Move Marker on Board};
        \node (J) at (1,-3) {Move Wiper on Board};
        \node (K) at (2,-3) {Switch Tools};
        \node (L) at (3,-3) {Lift Marker};
        \node (M) at (4,-3) {More Carriage};
        \node (N) at (1,-4) {SCARA};
        \node (O) at (2.5,-4) {End-effector};
        \node (P) at (4,-4) {Cable driven Carriage};
    \end{scope}
    \path[->] (A) edge (B)
    (A) edge (C)
    (B) edge (D)
    (B) edge (H)
    (C) edge (E)
    (B) edge (F)
    (C) edge (G)
    (D) edge (I)
    (D) edge (L)
    (E) edge (J)
    (F) edge (K)
    (G) edge (K)
    (H) edge (M)
    (a) edge (b)
    (b) edge (c)
    (c) edge (d);
    \path[->,dashed]
    (I) edge (N)
    (J) edge (N)
    (K) edge (N)
    (K) edge (O)
    (L) edge (O)
    (M) edge (P);
\end{tikzpicture}
\end{document}