A cost-effective approach to software-in-the-loop simulation of pervasive systems and applications

Abstract

In this paper we illustrate a cost-effective softwarein-the-loop simulation methodology, which is particularly suitable for testing large-scale pervasive systems and applications. The main advantage of such an approach is that real code has to be deployed once, and a general-purpose simulation engine replicates it over virtual devices and environments as often as we wish. Our implementation of the proposed methodology is illustrated by means of the software-in-the-loop simulation of a peer-to-peer information sharing system, with real code running on simulated mobile nodes.

Software In the Loop Simulation for Robot Manipulators

“…In [27], authors presented a low cost SIL simulation to evaluate performance of control law for quadricopter using MATLAB/Simulink for control law and Xplane for vehicle dynamics and flight environment. In [22], authors described a cost effective SIL simulation methodology for mobile nodes representing large-scale pervasive system. This methodology permits deploying the real code once and replicating environments and over virtual devices as often as they wish.…”

“…To guarantee a high performance of the control system, a flexible joint manipulator which is highly nonlinear, strongly coupled and uncertain is used [19][20][21]. The embedded systems in the robotic industry must accomplish high safety requirements [22]. Therefore, verification step is essential to verify the behavior of the proposed system and to detect and correct the errors at earlier stage without any hardware or physical environment [23].…”