Multilanguage design of a robot arm controller: Case study

This paper discusses a case study, the multilanguage design of a robot arm controller. The system is composed of two parts: the controller and the motors of the robot arm. The design starts with a multilanguage system-level specification. SDL was used for the description of the controller and Matlab was used for the description of the physical behavior of the motors. The multilanguage design flow includes the refinement of the modules and the refinement of the communication between these modules described in different languages. In order to validate the overall system through the design steps, cosimulation is performed at different levels of abstraction. This experiment shows that system level model may provide an early mock-up of the design before refining the intermodule communication.

[1]  李幼升,et al.  Ph , 1989 .

[2]  Mattias O'Nils,et al.  Specification, Synthesis and Validation of Hardware/Software Interfaces , 1999 .

[3]  Ahmed Amine Jerraya,et al.  Protocol selection and interface generation for HW-SW codesign , 1997, IEEE Trans. Very Large Scale Integr. Syst..

[4]  Nacer-Eddine Zergainoh,et al.  Communication interface synthesis for multilanguage specifications , 1999, Proceedings Tenth IEEE International Workshop on Rapid System Prototyping. Shortening the Path from Specification to Prototype (Cat. No.PR00246).

[5]  Reinhard Klein,et al.  A Hardware Software Co-Simulation Environment , 1996 .

[6]  Herman Schmit,et al.  A Model and Methodology for Hardware-Software Codesign , 1993, IEEE Des. Test Comput..

[7]  Nacer-Eddine Zergainoh,et al.  Multilanguage design of heterogeneous systems , 1999, Proceedings of the Seventh International Workshop on Hardware/Software Codesign (CODES'99) (IEEE Cat. No.99TH8450).

[8]  Ahmed Amine Jerraya,et al.  Languages for System-Level Specification and Design , 1997 .

[9]  Dieter Hogrefe,et al.  SDL - with applications from protocol specification , 1991, BCS practitioner series.

[10]  Edward A. Lee,et al.  Hierarchical concurrent finite state machines in Ptolemy , 1998, Proceedings 1998 International Conference on Application of Concurrency to System Design.

[11]  Axel Jantsch,et al.  Heterogeneous system-level cosimulation with SDL and Matlab , 1999 .

[12]  Russ Klein,et al.  Miami: a hardware software co-simulation environment , 1996, Proceedings Seventh IEEE International Workshop on Rapid System Prototyping. Shortening the Path from Specification to Prototype.