Model-driven robot-software design using integrated models and co-simulation

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.

[1]  Cliff B. Jones,et al.  Systematic software development using VDM (2. ed.) , 1990, Prentice Hall International Series in Computer Science.

[2]  Cliff B. Jones,et al.  Systematic software development using VDM , 1986, Prentice Hall International Series in Computer Science.

[3]  Peter C. Breedveld.  Port-Based Modeling of Engineering Systems in Terms of Bond Graphs , 2007, Handbook of Dynamic System Modeling.

[4]  W. Marsden.  I and J , 2012 .

[5]  Jan F. Broenink,et al.  Model-driven robot-software design using template-based target descriptions , 2010 .

[6]  Johannes F. Broenink,et al.  A structured approach to embedded control systems implementation , 2001, Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204).

[7]  Jan F. Broenink,et al.  Co-simulation of networked embedded control systems, a CSP-like process-oriented approach , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[8]  C. A. R. Hoare,et al.  Communicating sequential processes , 1978, CACM.

[9]  Jan F. Broenink,et al.  HW/SW Design Space Exploration on the Production Cell Setup , 2009, CPA.

[10]  J. F. Broenink,et al.  Design support and tooling for dependable embedded control software , 2010, SERENE.

[11]  Edward A. Lee,et al.  Taming heterogeneity - the Ptolemy approach , 2003, Proc. IEEE.

[12]  P. Breedveld.  Multibond graph elements in physical systems theory , 1985 .

[13]  Jan F. Broenink,et al.  A Model-Driven Approach to Embedded Control System Implementation , 2007 .

[14]  Bran Selic,et al.  The Pragmatics of Model-Driven Development , 2003, IEEE Softw..

[15]  Jan F. Broenink,et al.  Virtual prototyping through co-simulation of a Cartesian plotter , 2008, 2008 IEEE International Conference on Emerging Technologies and Factory Automation.

[16]  P. C. Breedveld,et al.  Chapter 1: Port-Based Modeling of Dynamic Systems , 2009 .

[17]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[18]  Pieter C. Breedveld.  Port-Based Modeling of Dynamic Systems , 2009 .

[19]  R. Rosenberg,et al.  System Dynamics: Modeling and Simulation of Mechatronic Systems , 2006 .

[20]  Peter Gorm Larsen,et al.  Validated Designs for Object-oriented Systems , 2004 .