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

Ridder, L.W. van de (2018) Improvements to a tool-chain for model-driven design of Embedded Control Software.

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Abstract:At the Robotics and Mechatronics (RaM) group of the University of Twente, we deal with in- creasingly complex cyber-physical systems. The software running on these systems, called Embedded Control Software (ECS), is a major contributor towards this increasing complexity. ECS is responsible for loop controllers, sequence controllers (finite 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) which encompasses a model-driven design approach has been developed at RaM. The goal of this WoW is to enable a first-time right implementation. To support this approach, a tool chain is available. Main components of this tool chain are LUNA (a hard real-time capable framework) and a GUI-based CSP modelling tool called TERRA. 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. The tool-chain does not seem to fit the requirements of the end-user as it is not used in projects very often. There appears to be a case of ’technology-push’ in contrast to ’market-pull’ from the perspective of the end-user. In this project, the currently available tool-chain has been evaluated through use-case driven analysis. A number of missing or deficient features have been identified. For example, network communication between hard real-time (HRT) and soft real-time (SRT) layers in the system, methods to incorporate Finite State Machines, and co-simulation using Gazebo and 20-sim. Finally, refinements made to the tool chain are demonstrated by design and implementation of embedded control software for the Production Cell. Additionally, some hardware extensions to the Production Cell based on previous prototypes have been developed to support. A successful implementation using ROS and ZeroMQ-based network channels has been real- ised. Additionally, a proof of concept of HRT network channels using the CANBUS interface is available. A co-simulation approach, combining a LUNA-based application, Gazebo, and 20-sim in various topologies has been created. The successful Implementation of ECS using the improved tool-chain indicates that the tooling now better fits the requirements of an end-user.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology, 54 computer science
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/77036
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