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Engineering of real-time systems with an experiment in hybrid control

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Lectures on Embedded Systems (EEF School 1996)

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Abstract

The core of this paper reports on development of a multi-threaded, multiprocessor program for an embedded system. It covers all phases of the development from requirements through successively refined designs with formal verification to implementation. The program controls an experimental hydraulically powered manipulator with two links. The architecture uses local control for each of the links, and has a mode switched control algorithm which detects and reacts on changes in model parameters due to variations in the forces acting on the link. The result shows that it is feasible to check a design against realistic top level requirements with specific assumptions about th control and mode detection algorithms. The design is detailed to an architecture that isolate these and other algorithms supplied by control engineers, thus providing a precise interface description with a potential for reuse. Specifications of requirements and designs are expressed in duration calculus, a real-time interval logic, which is also used in verification. The implementation is done in occam for a network of four transputer's. Low level timing constraints are checked manually by calculating path lengths.

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Author information

Authors and Affiliations

  1. Computer Systems Section Department of Information Technology, Technical University of Denmark, DK-2800, Lyngby, Denmark

    Anders P. Ravn, Thomas J. Eriksen, Michael Holdgaard & Hans Rischel

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  1. Anders P. Ravn
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  2. Thomas J. Eriksen
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  3. Michael Holdgaard
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  4. Hans Rischel
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Grzegorz Rozenberg Frits W. Vaandrager

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Ravn, A.P., Eriksen, T.J., Holdgaard, M., Rischel, H. (1998). Engineering of real-time systems with an experiment in hybrid control. In: Rozenberg, G., Vaandrager, F.W. (eds) Lectures on Embedded Systems. EEF School 1996. Lecture Notes in Computer Science, vol 1494. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-65193-4_27

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  • DOI: https://doi.org/10.1007/3-540-65193-4_27

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