A communicating Thread -CT- case study: JIWY

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

A communicating Thread -CT- case study: JIWY

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

71 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 language	Undefined
Title of host publication	Proceedings Communication Process Architectures 2002
Editors	P.W.J. Pascoe, R. Loader, V. Sunderman
Place of Publication	Reading (UK)
Publisher	IOS
Pages	311-320
Number of pages	10
ISBN (Print)	1 58603 268 2
Publication status	Published - 15 Sept 2002
Event	Communicating Process Architectures, CPA 2002 : 25th WoTUG Technical Meeting on Concurrent and Parallel Programming - University of Reading, Reading, United Kingdom Duration: 15 Sept 2002 → 18 Sept 2002 Conference number: 25

Publication series

Name	Concurrent Systems Engineering 60
Publisher	IOS Press

Conference

Conference	Communicating Process Architectures, CPA 2002
Abbreviated title	CPA
Country/Territory	United Kingdom
City	Reading
Period	15/09/02 → 18/09/02

Keywords

METIS-207505
IR-43828

Access to Document

jovanovic02communicating

Cite this

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title = "A communicating Thread -CT- case study: JIWY",

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.",

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author = "D.S. Jovanovic and G.H. Hilderink and Broenink, {Johannes F.}",

year = "2002",

month = sep,

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isbn = "1 58603 268 2",

series = "Concurrent Systems Engineering 60",

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pages = "311--320",

editor = "P.W.J. Pascoe and R. Loader and V. Sunderman",

booktitle = "Proceedings Communication Process Architectures 2002",

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note = "Communicating Process Architectures, CPA 2002 ; Conference date: 15-09-2002 Through 18-09-2002",

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A communicating Thread -CT- case study: JIWY. / Jovanovic, D.S.; Hilderink, G.H.; Broenink, Johannes F.
Proceedings Communication Process Architectures 2002. ed. / P.W.J. Pascoe; R. Loader; V. Sunderman. Reading (UK): IOS, 2002. p. 311-320 (Concurrent Systems Engineering 60).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - A communicating Thread -CT- case study: JIWY

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AU - Hilderink, G.H.

AU - Broenink, Johannes F.

N1 - Conference code: 25

PY - 2002/9/15

Y1 - 2002/9/15

N2 - 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.

AB - 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.

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