Improvements to a tool chain for model-driven design of Embedded Control Software


Wilbert van de Ridder BSc
Presentation MSc presentation
Date 2018-02-23
Time 11:00
Location HT 500 B

At RaM, we deal with increasingly complex cyber-physical systems (in which the digital and continuous time domain are coupled). The software running on these systems (Embedded Control Software) is a major contributor towards this increasing complexity. ECS is responsible for low-level loop controllers, sequence controllers (state machines), resource intensive methods (e.g. SLAM), up to supplying means of user interaction. Additionally, these tasks are often distributed among multiple computational devices which requires some form of network communication.

To aid the design of ECS in a structured manner, a Way of Working (WoW) [1] which encompasses a model-driven design approach has been developed at RaM. The goal of this WoW is to enable a first-time right To support this approach, a tool chain has been created. Main components of this tool chain are LUNA (a hard real-time capable framework) [2] and a GUI based CSP modelling tool called TERRA [3]. In the past few years, a number of additions have been made to this tool chain; to name a few: hardware ports, a ROS/LUNA bridge, and the mapping of CSP models created in TERRA to hardware using Clλsh.

A number of steps in the WoW are not fully supported yet by the tool chain. For example, network communication between HRT targets, incorporating Finite State Machines, and (co-)simulation using tools like Gazebo and 20-sim.

In this project, the currently available tool chain has been evaluated by applying it to a demonstrator (the Production Cell [4]). By following the WoW, lacking areas of the tool chain have been identified and improved. Finally, refinements made to the tool chain are demonstrated on the Production Cell. Additionally, some hardware extensions to the Production Cell based on previous prototypes are integrated.

[1] Bezemer, M. M., Wilterdink, R. J., & Broenink, J. F. (2012). Design and use of csp meta-model for embedded control software development.

[2] Bezemer, M. M., Wilterdink, R. J., & Broenink, J. F. (2011). Luna: Hard real-time, multi-threaded, csp-capable execution framework.

[3] Bezemer, M. M. (2013). Cyber-physical systems software development: way of working and tool suite (Doctoral dissertation, Twente University Press).

[4] van den Berg, L. (2006). Design of a production cell setup. MSc Thesis. University of Twente.

Posted on Thursday, February 1, 2018