Integrated Software Development for Embedded Robotic...

Integrated Software Development for Embedded Robotic Systems

Sebastian Wätzoldt, Stefan Neumann,

Falk Benke, Holger Giese

System Analysis and Modeling Group

Introduction

Sebastian Wätzoldt | 08th November 2012 | SIMPAR 2

Introduction

We contribute:

■ Applied, adapted and evaluated an existing development

methodology for the robotic system application domain

■ evaluated and adapted the combination soft and hard real-time at

the application/component level using a MDE approach

An Methodology for robotic system should support:

■ Different development activities

□ Modeling, simulation, verification/ testing

■ Different Stages

□ Simulation, Prototyping, (Pre-)production

■ Supported tools

■ Supported libraries

■ Integrated toolchain

■ Reflect hard and soft real-time constraints


Evaluation Scenario


Stock

Delivery Area

(ASD)

25 qm

Packaging Area

(AP)

50 qm

RP

Sorting Area

(AS)

32 qmRS

RSt

Stock (St)

Packaging

Room

Sorting

Room

Stock

Room

Delivery

Room

Door

Puck

Puck

Dispenser

Charging

Point

Ch

arg

ing

Po

int

Band-

Conveyor

Control

Unit


Evaluation Scenario (2)


Evaluation Scenario (3)

Methodology

MT = model test

MiL = model-in-the-loop

RP = rapid prototyping

SiL = software-in-the-loop

HiL = hardware-in-the-loop

ST = system test


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

[Broekman2003]

Broekman, B. and Notenboom, E.:

Testing Embedded Software,

Wesley, 2003.

Simulation Stage

■ Focus model development

□ Functional development

□ Overall proof of the control

laws

■ Ignore or simplify

□ Real sensor values

□ Specific communication

interaction and messages

□ Sensor noise

□ Timing/ memory/ computation

constraints

□ Scheduling


MT/MiL

RP

+Extensions

Stock

Delivery Area

(ASD)

25 qm

Packaging Area

(AP)

50 qm

RPSorting Area

(AS)

79 qm

Stock (St)

Packaging

Room

Sorting

Room

Stock

Room

Delivery

Room

Charging

Point

Ch

arg

ing

Po

int

Band-

Conveyor

Control

Unit

A B


MT/MiL

RP

Simulation Stage


MT/MiL

RP

Simulation Stage

Verification: Model Testing (MT)

■ one-way / one-shot simulation


MT/MiL

RP

Simulation Stage

Verification: model-in-the-loop (MiL) simulation

■ Simulation using feedback loops


MT/MiL

RP

Simulation Stage

Verification: model-in-the-loop (MiL) simulation

■ Simulation using feedback loops

■ Simulate using the real robot


MT/MiL

RP

Simulation Stage

■ Focus changes from model to

implementation

□ Individual function

□ System architecture

■ Discretization effects become

visible


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

Prototyping Stage

Prototyping Stage

■ Software-in-the-loop simulation


SiL

■ code generation capabilities of MDE

■ Hand coded implementation


SiL

Code

Generation

Prototyping Stage


SiL

■ Define components

□ Communication mechanisms, port types

□ Messages, interfaces and data types

Prototyping Stage


SiL

■ Map functionality

□ using existing models

□ Custom implementation files

Prototyping Stage


SiL

■ Define:

□ overall architecture

□ Task specification

□ hardware configuration

Prototyping Stage

Real-Time Consideration

■ Consider real-time constraints

□ E.g. to guarantee safety

constraints

■ Combination of hard and soft real-

time at functional as well as

architectural level

■ difference to the automotive

domain is stronger coupling in

robotics

■ Our Approach:

□ Preserves hard real-time

constraints for basic functions

□ Communication between hard

and soft real-time ensures

consistent data exchange


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage



MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

Task description:

Task 1

Task n

…

Task 1

Task n

…

hard real-time soft real-time



MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

Task description:

Task 1

Task n

…

Task 1

Task n

…


High priority

Low priority

■ Preserves hard real-time

constraints for basic functions



MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

Task description:

Task 1

Task n

…

Task 1

Task n

…


trigger via

data event

report

results

■ Communication between hard and

soft real-time ensures consistent

data exchange


Pre-production Stage

■ Simulate overall architecture

■ Build real system and execute on

real hardware

□ No simulation semantic

□ Hard real-time execution

possible


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

Summary

■ Methodology

□ Guidance due different focus in

stages following MDE approach

□ Tool and library integration

□ Verification, simulation, testing

support

□ Hard and soft real-time

consideration


MT/MiL

RP

SiL

HiL

ST

Simulation

stage

Prototyping

stage

Pre-production

stage

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