A Modelica Library for Real-Time Coordination Modeling

Pohlmann, Uwe; Dziwok, Stefan; Suck, Julian; Wolf, Boris; Loh, Chia Choon; Tichy, Matthias

doi:10.3384/ecp12076365

Cited by 6 publications

(6 citation statements)

References 8 publications

(18 reference statements)

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“…Finally, section 6 summarizes the work and provides possible future work. Modelica has been used for modeling spider robotic arm [7], 6-axis industrial robots [8,9,10], 3 DOFs parallel Gantry-Tau robot [11], 5 DOFs manipulator [12] and mobile platforms [13,14]. In most cases, a robot model in Modelica is used for investigating the manipulator's motion control especially in the domain of optimization and system dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modelica Model for the youBot Manipulator

Dwiputra¹,

Zakharov²,

Chakirov³

et al. 2014

Linköping Electronic Conference Proceedings

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This paper presents the development of Modelica model for the youBot manipulator. Whereas other robotic simulations focus on the robot interaction with its environment, Modelica allows the modeling of the manipulator controllers and motors. The model was developed with a Modelica library for the manipulator's components which provides modularity, reusability and abstraction. A comparison test with the actual system is performed to ensure the model accuracy. The test result shows promising result and provides possible future work. The Modelica model of the youBot manipulator is freely available.

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Section: Introductionmentioning

confidence: 99%

“…[11] develops method for kinematic calibration with the Modelica model of parallel Gantry-Tau robot. Aside in the field of motion control, Modelica robot models have also been used for tele-manipulation [7], robot communication [14] and teaching tools [13].…”

Section: Introductionmentioning

confidence: 99%

Modelica Model for the youBot Manipulator

Dwiputra¹,

Zakharov²,

Chakirov³

et al. 2014

Linköping Electronic Conference Proceedings

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“…To ensure the fulfillment of the assumption that the control behavior together with the physics preserves the formally verified, timed coordination behavior, we present in this paper an approach for validating the interconnected discrete-continuous behavior by means of a hybrid simulation. Therefore, we automatically transform MUML models to Modelica. In [20] we used MUML modeling concepts to build up the Modelica Real-Time Coordination Library. However, this does not include the formal verification of models.…”

Section: Introductionmentioning

confidence: 99%

Generating Modelica Models from Software Specifications for the Simulation of Cyber-Physical Systems

Pohlmann

Holtmann

Meyer

et al. 2014

2014 40th EUROMICRO Conference on Software Engineering and Advanced Applications

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Future smart systems will provide functionality by dynamically interacting with each other in cyber-physical systems. Such interactions require a message-based coordination under hard real-time constraints. This is realized by complex software, which combines discrete, state-based behavior with continuous behavior controlling the dynamics of the physical system parts. The development methods and tools for these kinds of software are not well integrated so far. For the modeling and simulation of physical and continuous control behavior, Modelica can be used. For modeling the discrete coordination behavior, MECHATRONICUML (MUML) can be used, which in addition offers a formal verification of safety requirements like deadlockfreedom of interactions, for example. We introduce in this paper an automatic transformation for formally verified MUML models into Modelica to ensure that the discrete state-based software correctly interacts with the continuous control software, physical parts, and a plant model. We illustrate this concept by means of a car-to-car coordination scenario.

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“…In other previous works [23], we presented a Modelica library (based on the StateGraph2 Library) that contains modeling primitives for the modeling of state machines with real-time annotations and support for sending and receiving asynchronous messages. While this library supports the modeling of the coordination behavior, it does not contain reusable blocks for higher-level co- Several (simulation) concepts and libraries exist that especially ease the communication design and the application of (domainspecific) design patterns.…”

Section: Introductionmentioning

confidence: 99%

“…The contribution of this paper is a Modelica library which formalizes our real-time coordination patterns [10] as easily reusable Modelica classes using our existing coordination library [23]. Furthermore, we present a process for developing by using the library.…”

Section: Introductionmentioning

confidence: 99%

A Modelica Coordination Pattern Library for Cyber-Physical Systems

Pohlmann

Dziwok

Meyer

et al. 2014

Proceedings of the Seventh International Conference on Simulation Tools and Techniques

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Today's embedded systems often do not operate individually anymore. Instead, they form so called cyber-physical systems, where the overall functionality is provided by the collaboration of systems. Consequently, the design of this collaboration is an important activity during development and strongly affects system quality. In previous work, we presented a catalog of reusable messagebased real-time coordination patterns to avoid manual creation of new and, thus, error-prone designs. In this paper, we present an implementation of this catalog by a library in the Modelica language and an appropriate development process. The library stores ready to reuse solutions for common coordination activities and, thus, increases efficiency and effectiveness for use. Furthermore, the use of Modelica enables early holistic simulation of cyber-physical systems including feedback controllers and message-based coordination. We illustrate the library with examples from an autonomous railway vehicle and present an early evaluation.

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A Modelica Library for Real-Time Coordination Modeling

Cited by 6 publications

References 8 publications

Modelica Model for the youBot Manipulator

Modelica Model for the youBot Manipulator

Generating Modelica Models from Software Specifications for the Simulation of Cyber-Physical Systems

A Modelica Coordination Pattern Library for Cyber-Physical Systems

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