Nowadays, UML is considered to be the standardized language for object-oriented modeling and analysis. However, UML cannot be used for automatic analyses and simulation. In this paper, we propose an approach for transforming UML statechart and collaboration diagrams to Colored Petri net models. This transformation aims to bridge the gap between informal notation (UML diagrams) and more formal notation (Colored Petri net models) for analysis purposes. It produces highlystructured, graphical, and rigorously-analyzable models that facilitate early detection of errors such as deadlock and livelock. The approach is based on graph transformations where the input and output of the transformation process are graphs. The meta-modeling tool AToM3 is used. A case study is presented to illustrate our approach.
Abstract. In this paper, we present a new design methodology for synchronous reactive systems, based on a clear separation between control and data flow parts. This methodology allows to facilitate the specification of different kinds of systems and to have a better readability. It also permits to separate the study of the different parts by using the most appropriate existing tools for each of them. Following this idea, we are particularly interested in the notion of running modes and in the Scade tool. Scade is a graphical development environment coupling data processing and state machines (modeled by the synchronous languages Lustre and Esterel). It can be used to specify, simulate, verify and generate C code. However, this tool does not follow any design methodology, which often makes difficult the understanding and the re-use of existing applications. We will show that it is also difficult to separate control and data flow parts using Scade. Regulation systems are better specified using mode-automata which allow adding an automaton structure to data flow specifications written in Lustre. When we observe the modestructure of the mode-automaton, we clearly see where the modes differ and the conditions for changing modes. This makes it possible to better understand the behavior of the system. In this work, we try to combine the advantages of Scade and running modes, in order to develop a new design methodology which facilitates the study of several systems by respecting the separation between control and data flows. This schema is illustrated through the Climate case study suggested by Esterel Technologies 1 , in order to exhibit the benefits of our approch compared to the one advocated in Scade.
In this paper, we introduce the concept of a multilink unmanned aerial system (ML-UAS) designed for multicargo transportation tasks. Such a system features three links who are actuated by four flying robots. We present in detail the dynamics modeling based on the Euler-Lagrange formulation. A preliminary control scheme based on robust Adaptive Integral Sliding Mode Control (AISMC) is applied considering the ML-UAS model uncertainties and external disturbances. The control objective is to follow/track avian-inspired acquiring patterns for acquiring operations. The effectiveness of the proposed strategy is validated by numerical simulations.
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