A tool for simulation and fast prototyping of embedded control systems

This paper presents a set of C++ libraries, called RTSIM, aimed at realizing a joint simulation of a continuous plant and of a real-time embedded controller. The libraries permit a separate specification of the functional behaviour of the controller and of the software platform to be used for its deployment. In particular, it is possible to provide an accurate modeling of the concurrent architecture of the control tasks and of the run-time support offered by the operating system for the real-time scheduling of the shared resources (CPU, memory buffers, network links). In this way, its is possible to compare different scheduling solutions by evaluating their simulated performance in the domain of the control application. Moreover, the tool can be utilized to tune up such design parameters as the activation frequencies of the tasks. The application of the tool is shown on a meaningful robotic case-study.

[1]  Lui Sha,et al.  Priority Inheritance Protocols: An Approach to Real-Time Synchronization , 1990, IEEE Trans. Computers.

[2]  Giuseppe Lipari,et al.  Simulation and tracing of hybrid task sets on distributed systems , 1998, Proceedings Fifth International Conference on Real-Time Computing Systems and Applications (Cat. No.98EX236).

[3]  Chung Laung Liu,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[4]  Anton Cervin,et al.  A Matlab toolbox for real-time and control systems co-design , 1999, Proceedings Sixth International Conference on Real-Time Computing Systems and Applications. RTCSA'99 (Cat. No.PR00306).

[5]  Heonshik Shin,et al.  Visual assessment of a real-time system design: a case study on a CNC controller , 1996, 17th IEEE Real-Time Systems Symposium.

[6]  Lui Sha,et al.  On task schedulability in real-time control systems , 1996, 17th IEEE Real-Time Systems Symposium.

[7]  Kang G. Shin,et al.  Computing time delay and its effects on real-time control systems , 1995, IEEE Trans. Control. Syst. Technol..

[8]  Hussein M. Abdel-Wahab,et al.  A proportional share resource allocation algorithm for real-time, time-shared systems , 1996, 17th IEEE Real-Time Systems Symposium.

[9]  Jay K. Strosnider,et al.  ENHANCED APERIODIC RESPONSIVENESS IN HARD REAL-TIME ENVIRONMENTS. , 1987, RTSS 1987.

[10]  Giorgio C. Buttazzo,et al.  Integrating multimedia applications in hard real-time systems , 1998, Proceedings 19th IEEE Real-Time Systems Symposium (Cat. No.98CB36279).

[11]  Giorgio Buttazzo,et al.  Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications , 1997 .

[12]  Hermann Kopetz,et al.  Distributed fault-tolerant real-time systems: the Mars approach , 1989, IEEE Micro.

[13]  Hagbae Kim,et al.  Derivation and application of hard deadlines for real-time control systems , 1992, IEEE Trans. Syst. Man Cybern..

[14]  Akash Deshpande,et al.  The SHIFT programming language for dynamic networks of hybrid automata , 1998 .

[15]  Wang Yi,et al.  UPPAAL - a Tool Suite for Automatic Verification of Real-Time Systems , 1996, Hybrid Systems.

[16]  Björn Wittenmark,et al.  Stochastic Analysis and Control of Real-time Systems with Random Time Delays , 1999 .

[17]  Thomas A. Henzinger,et al.  Giotto: a time-triggered language for embedded programming , 2001, Proc. IEEE.

[18]  Lui Sha,et al.  Scheduling sporadic and aperiodic events in a hard real-time system. Final report , 1989 .

[19]  Edward A. Lee.  Computing for embedded systems , 2001, IMTC 2001. Proceedings of the 18th IEEE Instrumentation and Measurement Technology Conference. Rediscovering Measurement in the Age of Informatics (Cat. No.01CH 37188).

[20]  B. Allotta,et al.  Multi-level stabilizing control of a nonholonomic vehicle and its discrete-time multirate implementation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[21]  Pradeep K. Khosla,et al.  Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects , 1997, IEEE Trans. Software Eng..

[22]  Astrom.  Computer Controlled Systems , 1990 .

[23]  Luigi Palopoli,et al.  Real-time control system analysis: an integrated approach , 2000, Proceedings 21st IEEE Real-Time Systems Symposium.

[24]  Stavros Tripakis,et al.  The Tool KRONOS , 1996, Hybrid Systems.

[25]  Thomas A. Henzinger,et al.  HYTECH: a model checker for hybrid systems , 1997, International Journal on Software Tools for Technology Transfer.

[26]  Johan Nilsson,et al.  Some topics in real-time control , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).