CONFIDENTIAL
26.10.2012
Slide 2
DESTECS - DREDGING EXCAVATOR - VERHAERT CASE STUDY
MODEL BASED DESIGN FOR EMBEDDED
CONTROL...
CONFIDENTIAL
26.10.2012
Slide 3
Model Based Design in general:
• What ?
• Why ?
• How ?
A model based design case study:
•...
CONFIDENTIAL
26.10.2012
Slide 4
What ? Model driven engineering ?
Model based development ?
Build model
Plant / Process
Pr...
CONFIDENTIAL
26.10.2012
Slide 5
Why ?
Why ?
• Cheaper & faster
• Higher reliability
• Better definition
When ?
• Complex p...
CONFIDENTIAL
26.10.2012
Slide 6
Why : definition
Communication
between disciplines,
with customer & subcontractors,
over p...
CONFIDENTIAL
26.10.2012
Slide 7
Why simulation : early validation
Benefits
• More and faster iterations
• Parallel hw & sw...
CONFIDENTIAL
26.10.2012
Slide 8
Why early: cost vs. freedom
• Design & test
freedom
• Unlimited
measurements
in simulation...
CONFIDENTIAL
26.10.2012
Slide 9
Re-use proven tools from high reliability
domains?
• Space, aeronautics, nuclear, automoti...
CONFIDENTIAL
26.10.2012
Slide 10
How: examples
Multi domain tools:
• Matlab/Simulink +
SimMech+StateFlow
+ RTW + AutoSar
•...
CONFIDENTIAL
26.10.2012
Slide 11
How : Modelisar / Autosar ?
Application sw
Hardware
standardized
HW-specific
Customer nee...
CONFIDENTIAL
26.10.2012
Slide 12
Case study : excavator with Destecs
Complex
• manual operations
• => inherent fault toler...
CONFIDENTIAL
26.10.2012
Slide 13
Model Based Design in general:
• What ?
• Why ?
• How ?
A model based design case study:
...
CONFIDENTIAL
26.10.2012
Slide 14
DESTECS inspiration
• Inspiration
• Use collaborative multidisciplinary design of Embedde...
CONFIDENTIAL
26.10.2012
Slide 15
DESTECS approach
• Methods and Open tools
• Model-based approach for collaborative design...
CONFIDENTIAL
26.10.2012
Slide 16
Dredging
• Dredging
= Underwater excavation
• No visual
• Introducing semi automated cont...
CONFIDENTIAL
26.10.2012
Slide 17
Scale model
CONFIDENTIAL
26.10.2012
Slide 18
Actuators
Full scale  Hydraulic pistons
vs.
Scale model  Electric linear actuators
12V ...
CONFIDENTIAL
26.10.2012
Slide 19
Sensors
Incremental encoders
2 shifted square waves
Step and direction information
Driv...
CONFIDENTIAL
26.10.2012
Slide 20
Continuous Time model
CONFIDENTIAL
26.10.2012
Slide 21
3D Model
• STL-files for visualisation
• Mass & Inertia
• Dimmensions
CONFIDENTIAL
26.10.2012
Slide 22
Discrete Event model
CONFIDENTIAL
26.10.2012
Slide 23
Excavator model
CONFIDENTIAL
26.10.2012
Slide 24
Operator
• Joystick inputs (from CSV files)
• Pressing buttons
• Power on
• Start/Stop
• ...
CONFIDENTIAL
26.10.2012
Slide 25
Safety unit
• Redundant system
• In normal circumstances, no action
• Overrules controlle...
CONFIDENTIAL
26.10.2012
Slide 26
Controller
CONFIDENTIAL
26.10.2012
Slide 27
Operation modes
Direct mode Assisted mode
CONFIDENTIAL
26.10.2012
Slide 28
Assisted mode
Boom encoder
Stick encoder
Bucket encoder
X-joystick
Y-joystick
Scoop-joyst...
CONFIDENTIAL
26.10.2012
Slide 29
Conclusions
• Ability to implement large level of complexity at both sides:
Physics and C...
CONFIDENTIAL
26.10.2012
Slide 30
Excavator : current practice
Mechanics
• 3D CAD
System design
• requirements doc
• archit...
CONFIDENTIAL
26.10.2012
Slide 31
20sim
• continuous time
• multi-disciplinary
• graphical
• open libraries with
validated ...
CONFIDENTIAL
26.10.2012
Slide 32
CONFIDENTIAL
Time for a demonstration
CONFIDENTIAL
26.10.2012
Slide 33
Any questions?
CONFIDENTIAL
26.10.2012
Slide 34
VERHAERT MASTERS IN INNOVATION®
Headquarters
Hogenakkerhoekstraat 21
9150 Kruibeke (B)
te...
Upcoming SlideShare
Loading in …5
×

Innovation day 2012 16. koenraad rombaut & michiel de paepe - verhaert - model based design; added value & case study destecs'

583 views
401 views

Published on

Published in: Technology, Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total views
583
On SlideShare
0
From Embeds
0
Number of Embeds
5
Actions
Shares
0
Downloads
4
Comments
0
Likes
0
Embeds 0
No embeds

No notes for slide
  • ask background of public: sw or non-sw
  • models are used in most development for analysis
    model based = tight coupling between model and design

    during implementation, models are often not kept uptodate, because cost is higher than benefit.
    Cost is high because keeping them aligned (updating info in 2 places) often has to be done manually = labour intensive, error prone
    ! for good abstract modelling, languages need to be domain specific UML = general purpose, has not proven to be succesfull, on the contrary, some succesfull examples have been realised with domain specific modelling languages

    First: Put your process and your design in a model
    Second: Verify your design against your requirements by simulation
    Next: do some iterations if needed
    Finally: Implement your proven design

     Explicit modelling 
    Using most appropriate modelling languages (formalisms)
    Automating transformations 
      (for analysis, for simulation, for code synthesis, for testing)

    Example: inverted pendulum / Segway, complex processes / designs, reliability

    Modelling:
    requirements
    design
    implemenation
    test scenario


  • Cartoon: communication, validation, conflict between physics and software
    Cartoon: everybody knows, everybody laughs because everybody recognises => real problem (“give me something with 2 ropes where I can sit on, you know ? Yes, I know”)

    First show cartoon and ask some questions, then show rest of slide

    Communication: between customer & contractor + between disciplines
  • Testing = the poor man’s approach
  • ask public
  • Segway : model based control algorithms (Matlab / Simulink), but approval for public road use is hard to get
  • ask background of public: sw or non-sw
  • The Vienna Development Method (VDM) is one of the longest-established Formal Methods for the development of computer-based systems.

    Computing systems may be modeled in VDM-SL at a higher level of abstraction than is achievable using programming languages, allowing the analysis of designs and identification of key features, including defects, at an early stage of system development. Models that have been validated can be transformed into detailed system designs through a refinement process. The language has a formal semantics, enabling proof of the properties of models to a high level of assurance. It also has an executable subset, so that models may be analyzed by testing and can be executed through graphical user interfaces, so that models can be evaluated by experts who are not necessarily familiar with the modeling language itself.

  • a lot of paper docs
  • Innovation day 2012 16. koenraad rombaut & michiel de paepe - verhaert - model based design; added value & case study destecs'

    1. 1. CONFIDENTIAL 26.10.2012 Slide 2 DESTECS - DREDGING EXCAVATOR - VERHAERT CASE STUDY MODEL BASED DESIGN FOR EMBEDDED CONTROL SYSTEMS CONFIDENTIAL Koenraad Rombaut, Michiel de Paepe Applied physics & systems Koenraad.rombaut@verhaert.com, michiel.depaepe@verhaert.com
    2. 2. CONFIDENTIAL 26.10.2012 Slide 3 Model Based Design in general: • What ? • Why ? • How ? A model based design case study: • Case study • Models • Conclusions & demonstration Content
    3. 3. CONFIDENTIAL 26.10.2012 Slide 4 What ? Model driven engineering ? Model based development ? Build model Plant / Process Product design Design Concepts Verification Implement Product code Testing ModelspaceCodespace Model = system + control + environment + stimuli Multi-domain = control + system behaviour Coupling / transformations models  design requirements  design  implementation  test scenario
    4. 4. CONFIDENTIAL 26.10.2012 Slide 5 Why ? Why ? • Cheaper & faster • Higher reliability • Better definition When ? • Complex processes / designs Complex control strategies • High reliability • Early validation • Fast developments • Changing requirements Outputs: • design inputs • insights • derisk
    5. 5. CONFIDENTIAL 26.10.2012 Slide 6 Why : definition Communication between disciplines, with customer & subcontractors, over project phases Re-use of subsystems Safety factor  for (sw) budget & schedule Needs Requirements Specs Design Implementation Documentation Needs (what do we want) vs. specifications (how do we define) Specifying new (innovating) products and subsystems Changing requirements
    6. 6. CONFIDENTIAL 26.10.2012 Slide 7 Why simulation : early validation Benefits • More and faster iterations • Parallel hw & sw development • Multiple off-nominal and fault testing (non feasible tests) • Early full system validation and risk mitigation without hw • Less real-life testing (= the poor man’s approach) • More optimal system design by sw-physics co-simulation • Improved communication & design specification => time & cost reduction Traditional: • sequential = lengthy • validation on hw = late Model based: • Parallel = fast • validation on model = early Device Requirements System Design Subsystem requirements Detailled Design Functional Test Component Test Device Validation System Verfication
    7. 7. CONFIDENTIAL 26.10.2012 Slide 8 Why early: cost vs. freedom • Design & test freedom • Unlimited measurements in simulation • Lots of risks • Cost (project, build, measurement, change) • Real world representation • Number of people involved Lab model Field model Virtual model Risk/Effort Time
    8. 8. CONFIDENTIAL 26.10.2012 Slide 9 Re-use proven tools from high reliability domains? • Space, aeronautics, nuclear, automotive, chemical plants • Domain specific tools • Tool cost not an issue • Long learning curve, less flexibility Need for a new toolchain • affordable • flexible, scalable for generic developments • easy learning (graphical ?) • open (no vendor lock-in) • automatic transformations How ?
    9. 9. CONFIDENTIAL 26.10.2012 Slide 10 How: examples Multi domain tools: • Matlab/Simulink + SimMech+StateFlow + RTW + AutoSar • Dymola / Modelica • LabView • SysML / Raphsody Some research projects • Modelisar: Modelica + Autosar • Destecs: co-sim CT + DE • Deploy: B for dependable sw
    10. 10. CONFIDENTIAL 26.10.2012 Slide 11 How : Modelisar / Autosar ? Application sw Hardware standardized HW-specific Customer needs  Adaptive Cruise Control  Lane Departure Warning  Advanced Front Lighting System Using standards  Communication Stack  OSEK  Diagnostics  CAN, FlexRay Autosar = Automotive hw interface Modelica = Plant modelling
    11. 11. CONFIDENTIAL 26.10.2012 Slide 12 Case study : excavator with Destecs Complex • manual operations • => inherent fault tolerant design • 3D dynamic motion, digging map & boundaries • unknown soil conditions • multidomain: hydraulics, mechanics, sw Well known case • Manual operator as a reference • Scalable & testable Destecs differentiators: • discrete event (sw) & continuous time (physics) • fault injection & error checking • open
    12. 12. CONFIDENTIAL 26.10.2012 Slide 13 Model Based Design in general: • What ? • Why ? • How ? A model based design case study: • Case study introduction • Models • Scale model • Continuous time model • Discrete event model • Conclusions & demonstration Content
    13. 13. CONFIDENTIAL 26.10.2012 Slide 14 DESTECS inspiration • Inspiration • Use collaborative multidisciplinary design of Embedded Systems • Rapid construction and evaluation of system models • Evaluated on industrial applications • Need because of Embedded Systems • More demanding functional & non-functional requirements • Reliability, Fault Tolerance • Increasingly distributed • More design possibilities, and faults • Communication between physics and control
    14. 14. CONFIDENTIAL 26.10.2012 Slide 15 DESTECS approach • Methods and Open tools • Model-based approach for collaborative design of ECS • Co-simulation • Different tools, reflecting relevant aspects of design • Rapid, consistent analysis & comparison of models • Advances needed in • Continuous time modeling • Discrete event modeling • Fault modeling and fault tolerance • Open tool frameworks
    15. 15. CONFIDENTIAL 26.10.2012 Slide 16 Dredging • Dredging = Underwater excavation • No visual • Introducing semi automated control
    16. 16. CONFIDENTIAL 26.10.2012 Slide 17 Scale model
    17. 17. CONFIDENTIAL 26.10.2012 Slide 18 Actuators Full scale  Hydraulic pistons vs. Scale model  Electric linear actuators 12V  full speed out 0V  no movement -12V  full speed retract
    18. 18. CONFIDENTIAL 26.10.2012 Slide 19 Sensors Incremental encoders 2 shifted square waves Step and direction information Driving step counter (up and down) 1 index pulse / revolution Absolute positioning
    19. 19. CONFIDENTIAL 26.10.2012 Slide 20 Continuous Time model
    20. 20. CONFIDENTIAL 26.10.2012 Slide 21 3D Model • STL-files for visualisation • Mass & Inertia • Dimmensions
    21. 21. CONFIDENTIAL 26.10.2012 Slide 22 Discrete Event model
    22. 22. CONFIDENTIAL 26.10.2012 Slide 23 Excavator model
    23. 23. CONFIDENTIAL 26.10.2012 Slide 24 Operator • Joystick inputs (from CSV files) • Pressing buttons • Power on • Start/Stop • Manual/Assisted mode
    24. 24. CONFIDENTIAL 26.10.2012 Slide 25 Safety unit • Redundant system • In normal circumstances, no action • Overrules controller at controller failure Software bug, unforeseen situation, hardware failure • If triggered, 3 actions: Trigger emergency state on controller Overrule output and thereby stop all motion Cut off power to the motors (unimplemented, slows down CT)
    25. 25. CONFIDENTIAL 26.10.2012 Slide 26 Controller
    26. 26. CONFIDENTIAL 26.10.2012 Slide 27 Operation modes Direct mode Assisted mode
    27. 27. CONFIDENTIAL 26.10.2012 Slide 28 Assisted mode Boom encoder Stick encoder Bucket encoder X-joystick Y-joystick Scoop-joystick Kinematics Inverse kinematics Angular velocities: Boom, Stick, Bucket Actuator velocities: Boom, Stick, Bucket Boom linear actuator Stick linear actuator Bucket linear actuator
    28. 28. CONFIDENTIAL 26.10.2012 Slide 29 Conclusions • Ability to implement large level of complexity at both sides: Physics and Controller • Currently it’s an academic tool, not mature. • Steep learning curve, only for large and complex projects
    29. 29. CONFIDENTIAL 26.10.2012 Slide 30 Excavator : current practice Mechanics • 3D CAD System design • requirements doc • architecture doc • design specs doc Electronics • schematic Hydraulics • 1D model control sw • C-code Detailed design Build & Integration Final product • Test & verification sensor actuator
    30. 30. CONFIDENTIAL 26.10.2012 Slide 31 20sim • continuous time • multi-disciplinary • graphical • open libraries with validated components • from high level to detailed Co-Sim IF • version tracking • co-sim solver • design space exploration • fault injection VDM++ • discrete event • inherent condition checking • formal • graphical (via UML) • support for sw methods • C-code generation Excavator : with DESTECS
    31. 31. CONFIDENTIAL 26.10.2012 Slide 32 CONFIDENTIAL Time for a demonstration
    32. 32. CONFIDENTIAL 26.10.2012 Slide 33 Any questions?
    33. 33. CONFIDENTIAL 26.10.2012 Slide 34 VERHAERT MASTERS IN INNOVATION® Headquarters Hogenakkerhoekstraat 21 9150 Kruibeke (B) tel +32 (0)3 250 19 00 fax +32 (0)3 254 10 08 ezine@verhaert.com More at www.verhaert.com VERHAERT MASTERS IN INNOVATION® Netherlands European Space Innovation Centre Kapteynstraat 1 2201 BB Noordwijk (NL) Tel: +31 (0)633 666 828 willard.vanderheijden@verhaert.com More at www.verhaert.com VERHAERT MASTERS IN INNOVATION® helps companies and governments to innovate. We design products and systems for organizations looking for new ways to provide value for their customers. We are a leading integrated product innovation center; creating technology platforms, developing new products and business in parallel, hence facilitating new-growth strategies for our clients.

    ×