모델 기반 개발을 위한 Simulink 모델의 OPRoS 응용으로의 변환

OPRoS is a software Platform for distributed robotics applications. It was designed to reduce application development cost and increase software reusability by employing a component based software development methodology to. Unfortunately, OPRoS Is incomplete yet since it supports the validation and simulation of an application only after software components is fully implemented. This leads to late error detection and correction, which results in increased development cost and time. The model driven design(MDD) approach can overcome such a limitation by allowing validation and simulation early in design phases. Simulink is one of the most popular simulation tools in the robotics domain and effectively supports MDD. This paper proposes a model transformation mechanism from a Simulink model to an OPRoS application. Our experimental results show that the proposed mechanism is able to achieve a valid model transformation as well as small run-time performance overhead.