Model-Driven Robot-Software Design using integrated Models and Co-Simulation

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    Abstract

    The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be ’repeated’ as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.
    Original languageUndefined
    Title of host publicationInternational Conference on Embedded Computer Systems, SAMOS 2012
    EditorsJ. McAllister, S. Bhattacharyya
    Place of PublicationUSA
    PublisherIEEE Computer Society
    Pages339-344
    Number of pages6
    ISBN (Print)978-1-4673-2296-6
    Publication statusPublished - 17 Jul 2012
    Event2012 International Conference on Embedded Computer Systems: Architectures, Modeling, and Simulation, IC-SAMOS XII - Institute of East Aegean, Samos, Greece
    Duration: 16 Jul 201219 Jul 2012
    Conference number: 12

    Publication series

    Name
    PublisherIEEE Computer Society

    Conference

    Conference2012 International Conference on Embedded Computer Systems: Architectures, Modeling, and Simulation, IC-SAMOS XII
    Abbreviated titleIC-SAMOS
    CountryGreece
    CitySamos
    Period16/07/1219/07/12

    Keywords

    • METIS-296080
    • IR-81358
    • model-driven design methods
    • EWI-22206
    • Embedded control systems

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