Co-simulation Design towards Cyber-Physical Robotic Applications: Leveraging on FMI Standard and CSP Semantics

Zhou Lu*, Jan F. Broenink

*Corresponding author for this work

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Abstract

Designing a software controller for multi-task automated service robotics is becoming increasingly complex. The combination of discrete (cyber) and continuous (physical) domains and multiple engineering fields makes it quite challenging to couple different subsystems as a whole for further verification and validation. Co-simulation is widely used to evaluate connected subsystems in the very early design phase and in an iterative development manner. Leveraging on our previous efforts for a Model-Driven Development and simulation approach, that mainly focused on the software architecture, we propose a co-simulation approach adopting the Functional Mock-up Interface (FMI) standard to co-simulate the software controller with modelled physical plant dynamics. A model coupling approach is defined that involves the model transformation from a physical plant model implementing the FMI interface (denoted as Functional Mock-up Unit, FMU) to a Communicating Sequential Processes (CSP) model. The Master Algorithm is (semi-)automatically generated from a co-simulation model that is formalised with CSP syntax to orchestrate the communication between different FMUs. Additionally, an optimized algorithm with roll-back mechanism is defined to eliminate the delay existing in a feedback loop. Finally, an example is used to illustrate the co-simulation approach, verify its working (at least, for this example) and to analyse the roll-back algorithm.
Original languageEnglish
Title of host publicationCommunicating Process Architectures 2017 and 2018: WoTUG-39 and WoTUG-40
Subtitle of host publicationProceedings of CPA 2017 (WoTUG-39) and Proceedings of CPA 2018 (WoTUG-40)
EditorsJan Baekgaard Pedersen, Kevin Chalmers, Jan F. Broenink, Brian Vinter, Kevin Vella, Peter H. Welch, Marc L. Smith, Kenneth Skovhede
PublisherIOS Press
Pages171-187
Number of pages17
ISBN (Electronic)978-1-61499-948-5
ISBN (Print)978-1-61499-949-2
DOIs
Publication statusPublished - 2017
EventCommunicating Process Architectures, CPA 2017: 39th WoTUG Conference on Concurrent and Parallel Programming - University of Malta, Sliema, Malta
Duration: 20 Aug 201723 Aug 2017
Conference number: 39
http://www.wotug.org/cpa2017/

Publication series

NameConcurrent Systems Engineering Series
PublisherIOS Press
Volume70
ISSN (Print)1383-7575

Conference

ConferenceCommunicating Process Architectures, CPA 2017
Abbreviated titleCPA
Country/TerritoryMalta
CitySliema
Period20/08/1723/08/17
Internet address

Keywords

  • Co-simulation
  • CPS
  • CSP semantics
  • FMI
  • Master algorithm
  • Robotics

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  • Co-simulation Design towards Cyber-Physical Robotic Applications: Leveraging on FMI Standard and CSP Semantics

    Lu, Z. & Broenink, J. F., 2017, Communicating Process Architectures 2017 and 2018: WoTUG-39 and WoTUG-40: Proceedings of CPA 2017 (WoTUG-39) and Proceedings of CPA 2018 (WoTUG-40). Pedersen, J. B., Chalmers, K., Broenink, J. F., Vinter, B., Vella, K., Welch, P. H., Smith, M. L. & Skovhede, K. (eds.). IOS Press, p. 171-187 17 p. (Concurrent Systems Engineering Series; vol. 70).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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