Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity
Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hard...
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| Acceso en línea: | http://hdl.handle.net/20.500.12110/paper_08917736_v2018-December_n_p1250_Marcosig |
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todo:paper_08917736_v2018-December_n_p1250_Marcosig2023-10-03T15:41:24Z Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity Marcosig, E.P. Giribet, J.I. Castro, R. Embedded systems Middleware Robotics Embedded platforms Error prone tasks Hybrid controller Low level softwares Real time simulations Robotic applications Sensors and actuators Software/hardware Controllers Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the DEVS framework for robust modeling and real-time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom-made crafted robotic system is built concurrently with the design of its controller. © 2018 IEEE CONF info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/2.5/ar http://hdl.handle.net/20.500.12110/paper_08917736_v2018-December_n_p1250_Marcosig |
| institution |
Universidad de Buenos Aires |
| institution_str |
I-28 |
| repository_str |
R-134 |
| collection |
Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) |
| topic |
Embedded systems Middleware Robotics Embedded platforms Error prone tasks Hybrid controller Low level softwares Real time simulations Robotic applications Sensors and actuators Software/hardware Controllers |
| spellingShingle |
Embedded systems Middleware Robotics Embedded platforms Error prone tasks Hybrid controller Low level softwares Real time simulations Robotic applications Sensors and actuators Software/hardware Controllers Marcosig, E.P. Giribet, J.I. Castro, R. Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| topic_facet |
Embedded systems Middleware Robotics Embedded platforms Error prone tasks Hybrid controller Low level softwares Real time simulations Robotic applications Sensors and actuators Software/hardware Controllers |
| description |
Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the DEVS framework for robust modeling and real-time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom-made crafted robotic system is built concurrently with the design of its controller. © 2018 IEEE |
| format |
CONF |
| author |
Marcosig, E.P. Giribet, J.I. Castro, R. |
| author_facet |
Marcosig, E.P. Giribet, J.I. Castro, R. |
| author_sort |
Marcosig, E.P. |
| title |
Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| title_short |
Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| title_full |
Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| title_fullStr |
Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| title_full_unstemmed |
Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
| title_sort |
devs-over-ros (dover): a framework for simulation-driven embedded control of robotic systems based on model continuity |
| url |
http://hdl.handle.net/20.500.12110/paper_08917736_v2018-December_n_p1250_Marcosig |
| work_keys_str_mv |
AT marcosigep devsoverrosdoveraframeworkforsimulationdrivenembeddedcontrolofroboticsystemsbasedonmodelcontinuity AT giribetji devsoverrosdoveraframeworkforsimulationdrivenembeddedcontrolofroboticsystemsbasedonmodelcontinuity AT castror devsoverrosdoveraframeworkforsimulationdrivenembeddedcontrolofroboticsystemsbasedonmodelcontinuity |
| _version_ |
1782028336603594752 |