A communicating Thread -CT- case study: JIWY

D.S. Jovanovic, G.H. Hilderink, Johannes F. Broenink

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    21 Downloads (Pure)

    Abstract

    This JIWY demonstrator is constructed in the context of the development of a design framework and software tools to efficiently support mechatronic engineers in developing sophisticated control computer code out of a set control laws. We use the CSP-based Communicating Threads -CT- library as the software communication layer, our hard real-time "virtual machine". JIWY (just a soundful name) is a little tabletop robot with 2 rotational degrees of freedom and a camera as its "end effector", controlled via a joystick on a PC running Real-Time Linux. The control laws are stepwise refined to obtain the control software, enhancing the control-law block diagrams to CSP-diagrams, showing the communication and composition properties of the control software. Enhancements like adding homing and end stops for safety can easily be added in the CSP-diagrams, without adapting the control law design. This shows the orthogonality of the design steps. State charts were not needed to express all functionality, which leaves the design simple. The prize of this elegance, namely performance, has as yet not been investigated.
    Original languageUndefined
    Title of host publicationProceedings Communication Process Architectures 2002
    EditorsP.W.J. Pascoe, R. Loader, V. Sunderman
    Place of PublicationReading (UK)
    PublisherIOS Press
    Pages311-320
    Number of pages10
    ISBN (Print)1 58603 268 2
    Publication statusPublished - 15 Sep 2002
    EventCommunicating Process Architectures, CPA 2002 : 25th WoTUG Technical Meeting on Concurrent and Parallel Programming - University of Reading, Reading, United Kingdom
    Duration: 15 Sep 200218 Sep 2002
    Conference number: 25

    Publication series

    NameConcurrent Systems Engineering 60
    PublisherIOS Press

    Conference

    ConferenceCommunicating Process Architectures, CPA 2002
    Abbreviated titleCPA
    CountryUnited Kingdom
    CityReading
    Period15/09/0218/09/02

    Keywords

    • METIS-207505
    • IR-43828

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