Abstract
The model-driven approach is an increasingly popular trend in software design. It provides many benefits in terms of system design, reusability, and automatic code generation. In the industrial automation domain, the IEC 61499 standard is a recent initiative that adopts this approach. It offers an open, platform-independent framework for designing distributed control systems, whereby the interface and behaviour of a component is described using a function block. On the other hand, in the robotics domain, the Robotic Technology Component specification proposes a framework that allows software components to be easily integrated in a robotic system. The focus of that specification is not so much on the definition of each component’s internal behaviour, but rather on the management and interaction of those components. The combination of both these standards offers a comprehensive solution for designing robotic software components in a model-driven approach. This paper describes a tool-chain for doing so, and illustrates its viability through an example.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Amey, P., Dion, B.: Combining model-driven design with diverse formal verification. In: 3rd European Congress on Embedded Real Time Software, Toulouse (January 2006)
Ando, N., Suehiro, T., Kotoku, T.: A Software Platform for Component Based RT-System Development: OpenRTM-Aist. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. 5325, pp. 87–98. Springer, Heidelberg (2008)
Bhatti, Z.E.: A Model-Driven Approach for Safety Critical Systems. M.E. thesis, Department of Electrical and Computer Engineering, University of Auckland (2011), https://researchspace.auckland.ac.nz/handle/2292/6421
Bhatti, Z.E., Sinha, R., Roop, P.S.: Observer based verification of IEC 61499 function blocks. In: IEEE International Conference on Industrial Informatics (INDIN), pp. 609–614 (July 2011)
Biggs, G., Ando, N., Kotoku, T.: Coordinating Software Components in a Component-Based Architecture for Robotics. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 168–179. Springer, Heidelberg (2010)
International Electrotechnical Commission, Geneva: International Standard IEC 61499-1: Function blocks – Part 1: Architecture, 1st edn. (January 2005)
Kuo, M.M.Y., Sinha, R., Roop, P.S.: Efficient WCRT analysis of synchronous programs using reachability. In: 48th ACM/IEEE Design Automation Conference (DAC), San Diego, pp. 480–485 (June 2011)
Lewerentz, C., Lindner, T. (eds.): Formal Development of Reactive Systems. LNCS, vol. 891. Springer, Heidelberg (1995)
Microsoft: MSDN: Microsoft Visual Studio Extensibility Developer Center (2010), http://msdn.microsoft.com/en-us/vstudio/vextend.aspx
Object Management Group: Robotic Technology Component Specification, Version 1.0 (April 2008), http://www.omg.org/spec/RTC
Selic, B.: The pragmatics of model-driven development. IEEE Software 20(5), 19–25 (2003)
Yoong, L.H., Roop, P.S., Salcic, Z.: Efficient implementation of IEC 61499 function blocks. In: IEEE International Conference on Industrial Technology (ICIT), Gippsland (February 2009)
Yoong, L.H., Roop, P.S., Vyatkin, V., Salcic, Z.: A synchronous approach for IEC 61499 function block implementation. IEEE Transactions on Computers 58(12), 1599–1614 (2009)
Yoong, L.H., Shaw, G.D., Roop, P.S., Salcic, Z.: Synthesizing globally asynchronous locally synchronous systems with IEC 61499. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews Preprint(99), 1–13 (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yoong, L.H., Bhatti, Z.E., Roop, P.S. (2012). Combining IEC 61499 Model-Based Design with Component-Based Architecture for Robotics. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_32
Download citation
DOI: https://doi.org/10.1007/978-3-642-34327-8_32
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34326-1
Online ISBN: 978-3-642-34327-8
eBook Packages: Computer ScienceComputer Science (R0)