In this paper, the open source project RTnet is presented. provides a customisable and extensible framework for hard real-time communication over Ethernet other transport media. The paper describes architecture, core components, protocols of RTnet. FireWire introduced as powerful alternative to Ethernet, its integration into Moreover, an overview available future application networking given.

Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although argument for explicitly controlling strong, control has had only a modest impact on robotic manipulator practice. This due in part to fact that it difficult select suitable impedances given tasks. A spatial controller presented simplifies selection. Impedance characterized using "spatially affine" families compliance damping, which are nonspatial parameters. Nonspatial...

CSP is a fundamental concept for developing software distributed real time systems. The paradigm constitutes natural addition to object orientation and offers higher order multithreading constructs. channel that has been implemented in Java deals with single- multi-processor environments also takes care of the priority scheduling requirements. For this, notion carefully examined as result it was reasoned should be attached communicating channels rather than processes. In association...

Setting up a simulation model is more than writing down state equations and running them on computer. A lot of conceptual information about the physics engineering aspects system must be taken into account to construct useful model. The role library manage this make fragments reusable. This especially important if models are reused shared in cooperative work groups. In article, we discuss architecture reusable models. practical application demonstrated by reviewing an actual modeling problem...

The efficient design of resilient embedded systems is hampered by the separation engineering disciplines in current development approaches. We describe a new project entitled "Design Support and Tooling for Embedded Control Software" (DESTECS), which aims to develop methodology open tools platform collaborative multi-disciplinary dependable real-time control systems. also present some initial results from small co-simulation case study.

This paper describes a collaborative modelling exercise using the DESTECS framework. The approach allows engineers and software designers to collaborate produce system models that contain discrete-event (DE) model of controller continuous-time (CT) plant. We call these co-models their execution co-simulation. tool couples existing DE CT tools (Overture 20-sim, respectively) allowing use paradigms with which they are familiar, while collaborating construct shared models. work involved...

The work presented here is on a methodology for design of hard real-time embedded control software robots, i.e. mechatronic products. behavior the total robot system (machine, control, and I/O) relevant, because dynamics machine influences software. Therefore, we use two appropriate Models Computation, which represent continuous-time equations / part, discrete event time part.

The method presented aims at supporting the development of control software for embedded systems. considers implementation process as a stepwise refinement from physical system models and laws to efficient computer code, that all phases are verified by simulation. Simulation is also used verification tool during modeling law development. Data flow diagrams describe throughout whole process. Since we aim heterogeneous distributed processors target hardware, use link driver library based on...

The design of embedded control systems for monitoring and mechatronic has a multi-disciplinary development trajectory. These consist heterogeneous components developed by different disciplines (control engineering, electrical software engineering often many more). trajectory needs therefore methodology that enables concurrent interactions between all involved disciplines, reducing inconsistencies conflicts occur during the phase. This paper proposes multi-view to address above-mentioned...

This paper shows a model-based design trajectory for the development of real-time embedded control software using virtual prototyping. As test case, Cartesian plotter is designed. Functional correctness has been ensured by means co-simulation prototype before deploying it on target. Except interface implementation, that used in identical to compiled run target computing platform. Virtual prototyping especially important if real can damage itself operated outside its safe operation zone or...

The software design is one of the most challenging tasks during a mechatronic system. On hand, it has to provide solutions deal with concurrency and timeliness issues other glue different disciplines (such as software, control mechanical) system whole. In this paper, we propose model-driven approach part system, which consists two major parts: systematic modeling correctness-preserving synthesis. stage divided into four steps, focus on aspects concurrency, multiple timeliness) respectively....

This work is about an approach for designing control software mechatronic and robotic machines. As all system parts (control algorithms, infrastructure, I/O, machine) influence each other, its total behaviour needs to be taken into account. Therefore, we use appropriate modelling formalisms, namely discrete event / time the algorithm part, differential equations machine robotics part. We combine these two types of models in a co-modelling approach, supporting co-operative design such...