Abstract
Implementing energy-based controllers in software represents a challenge for software engineers, as additional expertise is required to abide by the physics-domain constraints of energy exchange in the design and structure of the control software. Our paper bridges the gap between software engineering and the physics domain by conveying energy exchange to control-software modelling. We use principles of physical systems and the bond -graph modelling language to identify the mechanisms and constraints of energy exchange and represent them as data-communication services for software models. This work resulted in metamodels and models for power and energy communication that can facilitate the first-time-right implementation of robot-control software.
Original language | English |
---|---|
Title of host publication | Proceedings - 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021 |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 55-62 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-6654-4474-3 |
ISBN (Print) | 978-1-6654-4475-0 |
DOIs | |
Publication status | Published - 9 Jun 2021 |
Event | 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online Duration: 2 Jun 2021 → 2 Jun 2021 |
Conference
Conference | 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 |
---|---|
City | Virtual, Online |
Period | 2/06/21 → 2/06/21 |
Keywords
- bond graph
- domain-specific constraints
- domain-specific ontologies
- energy exchange
- real-time systems
- software modelling