Actor-Oriented Control System Design: A Responsible Framework Perspective

Liu, Jie; Eker, Johan; Janneck, Jörn W.; Liu, Xiaojun; Lee, Edward A.

doi:10.1109/tcst.2004.824310

Cited by 38 publications

(20 citation statements)

References 20 publications

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“…One of the main problem is that the implementation team (software engineers) often works independently from the control team (control experts) [Liu et al 2004]. The transition from control algorithms, which is typically in form of formulas or simulation results, into software is a non-trivial process.…”

Section: Implement and Integrate The Controllermentioning

confidence: 99%

Control Strategies for Self-Adaptive Software Systems

Filieri

Maggio

Angelopoulos³

et al. 2017

ACM Trans. Auton. Adapt. Syst.

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The pervasiveness and growing complexity of software systems is challenging software engineering to design systems that can adapt their behavior to withstand unpredictable, uncertain, and continuously changing execution environments. Control theoretical adaptation mechanisms received a growing interest from the software engineering community in the last years for their mathematical grounding allowing formal guarantees on the behavior of the controlled systems. However, most of these mechanisms are tailored to specific applications and can hardly be generalized into broadly applicable software design and development processes.This paper discusses a reference control design process, from goal identification to the verification and validation of the controlled system. A taxonomy of the main control strategies is introduced, analyzing their applicability to software adaptation for both functional and non-functional goals. A brief extract on how to deal with uncertainty complements the discussion. Finally, the paper highlights a set of open challenges, both for the software engineering and the control theory research communities.

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Section: Implement and Integrate The Controllermentioning

confidence: 99%

Control Strategies for Self-Adaptive Software Systems

Filieri

Maggio

Angelopoulos³

et al. 2017

ACM Trans. Auton. Adapt. Syst.

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“…It implements a convenient interface intended for the use by control designers that represents all values as floating point SI-units. This convenient interface follows what we call a signal-oriented component model, which is based on the actor model [21]. Fig.…”

Section: The Hardware Abstraction Layermentioning

confidence: 99%

The computing and communication architecture of the DLR Hand Arm System

Jörg¹,

Nickl²,

Nothhelfer³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The computing and communication architecture of the DLR Hand Arm System is presented. Its task is to operate the robot's 52 motors and 430 sensors. Despite that complexity, the main design goal for it is to create a flexible architecture that enables high-performance feedback control with cycles beyond 1kHz. Flexibility is achieved through a hierarchical net of computing nodes that goes from commercialof-the-shelf hosts down to the physical interfaces of sensors and actuators. The concept of a Hardware Abstraction Layer (HAL) provides a convenient high-level interface to the entire robotic hardware. First experiments with prototypical control applications, featuring 100 kHz and 3 kHz control loops, demonstrate the performance of the architecture.

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“…In work by Liu et al [2004] the state-based approach is effectively used to model hybrid dynamic systems, where a director implements the integration algorithms. The block diagram language is then specified by a mapping onto an imperative programming language.…”

Section: Introductionmentioning

confidence: 99%

Stream- and State-Based Semantics of Hierarchy in Block Diagrams

Denckla

Mosterman

2008

IFAC Proceedings Volumes

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Block diagrams are often used in embedded system design for modeling both plant and controller, typically with continuous and discrete modeling, respectively. Though easy to use, advanced users and implementers of these languages often run afoul of subtle semantic problems these seemingly simple languages can have. Based on the stream-and state-based approaches, this paper discusses how the specialized state-based semantics of continuous-time block diagrams can interoperate hierarchichally with discrete-time block diagrams. The languages presented may serve as a reference of sorts, helping to clarify some of the underlying choices in block diagram language design, and in the process shedding light on the differences between, and limitations of, existing block diagram languages.

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Actor-Oriented Control System Design: A Responsible Framework Perspective

Cited by 38 publications

References 20 publications

Control Strategies for Self-Adaptive Software Systems

Control Strategies for Self-Adaptive Software Systems

The computing and communication architecture of the DLR Hand Arm System

Stream- and State-Based Semantics of Hierarchy in Block Diagrams

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