CONFIDENTIAL               Model Based Design for Embedded Control Systems                                            Koen...
CONFIDENTIAL             Content        Model Based Design in general:        • What ?        • Why ?        • How ?      ...
CONFIDENTIAL               What ?          Model driven engineering ?                               Model based developmen...
CONFIDENTIAL    Why ?    Why ?    • Cheaper & faster    • Higher reliability    • Better definition    When ?    • Complex...
CONFIDENTIAL             Why : definition  Needs (what do we want) vs.                        Communication  specification...
CONFIDENTIAL    Why simulation : early validation                                                        Traditional:    B...
CONFIDENTIAL             Why early: cost vs. freedom                                           Virtual              Lab   ...
CONFIDENTIAL             How ?             Re-use proven tools from high reliability                domains?              ...
CONFIDENTIAL             How: examples             Some research projects                                       • Modelisa...
CONFIDENTIAL             How : Modelisar / Autosar ?                             Customer needs                           ...
CONFIDENTIAL        Case study : excavator with Destecs     Complex     • manual operations     • => inherent fault tolera...
CONFIDENTIAL             Content        Model Based Design in general:        • What ?        • Why ?        • How ?      ...
CONFIDENTIAL    DESTECS inspiration    • Inspiration               •   Use collaborative multidisciplinary design of Embed...
CONFIDENTIAL    DESTECS approach    • Methods and Open tools               •   Model-based approach for collaborative desi...
CONFIDENTIAL    Dredging    • Dredging        = Underwater excavation    • No visual    • Introducing semi automated contr...
CONFIDENTIAL    Scale model26.10.2012                  Slide 16
CONFIDENTIAL    Actuators     Full scale  Hydraulic pistons        vs.    Scale model  Electric linear actuators        ...
CONFIDENTIAL    Sensors    Incremental encoders    2 shifted square waves    Step and direction information    Driving s...
CONFIDENTIAL    Continuous Time model26.10.2012                            Slide 19
CONFIDENTIAL    3D Model    • STL-files for visualisation    • Mass & Inertia    • Dimmensions26.10.2012                  ...
CONFIDENTIAL    Discrete Event model26.10.2012                           Slide 21
CONFIDENTIAL    Excavator model26.10.2012                      Slide 22
CONFIDENTIAL    Operator    • Joystick inputs (from CSV files)    • Pressing buttons       • Power on       • Start/Stop  ...
CONFIDENTIAL    Safety unit    • Redundant system    • In normal circumstances, no action    • Overrules controller at con...
CONFIDENTIAL    Controller26.10.2012                 Slide 25
CONFIDENTIAL    Operation modes               Direct mode              Assisted mode26.10.2012                            ...
CONFIDENTIAL     Assisted mode               X-joystick               Y-joystick             Scoop-joystick               ...
CONFIDENTIAL    Conclusions    • Ability to implement large level of complexity at both sides:      Physics and Controller...
CONFIDENTIAL    Excavator : current practice                                System design                                •...
CONFIDENTIAL    Excavator : with DESTECS                                    Co-Sim IF                                    •...
CONFIDENTIAL    Time for a demonstration26.10.2012                     Slide 31
CONFIDENTIAL    Any questions?26.10.2012                     Slide 32
CONFIDENTIAL                                                                                                          VERH...
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Verhaert Innovation Day 2011 – Koenraad Rombaut & Michiel De Paepe (VERHAERT) - Model Based Design: added value & case study Destecs

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Speakers of Verhaert at the 9th edition of our Innovation Day on October 26th 2012.

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Verhaert Innovation Day 2011 – Koenraad Rombaut & Michiel De Paepe (VERHAERT) - Model Based Design: added value & case study Destecs

  1. 1. CONFIDENTIAL Model Based Design for Embedded Control Systems Koenraad Rombaut Coordinator applied physics & systems Koenraad.rombaut@verhaert.com Michiel De Paepe Consultant applied physics & systems Michiel.depaepe@verhaert.com26.10.2012 Slide 1
  2. 2. CONFIDENTIAL Content Model Based Design in general: • What ? • Why ? • How ? A model based design case study: • Case study • Models • Conclusions & demonstration26.10.2012 Slide 2
  3. 3. CONFIDENTIAL What ? Model driven engineering ? Model based development ? Plant / Process Build model Model space Product design Concepts Design Verification Code space Product code Implement Testing Model = system + control + environment + stimuli Multi-domain = control + system behaviour Coupling / transformations models  design requirements  design  implementation  test scenario26.10.2012 Slide 3
  4. 4. CONFIDENTIAL 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 • derisk26.10.2012 Slide 4
  5. 5. CONFIDENTIAL Why : definition Needs (what do we want) vs. Communication specifications (how do we define) between disciplines, Specifying new (innovating) products with customer & subcontractors, and subsystems over project phases Changing requirements Re-use of subsystems Safety factor  for (sw) budget & schedule Needs Requirements Specs Design Implementation Documentation26.10.2012 Slide 5
  6. 6. CONFIDENTIAL Why simulation : early validation Traditional: Benefits • sequential = lengthy • validation on hw = late • More and faster iterations • Parallel hw & sw development Device Requirements Device Validation • Multiple off-nominal and fault testing (non feasible tests) • Early full system validation System System and risk mitigation without hw Design Verfication • Less real-life testing (= the poor man’s approach) Subsystem Functional • More optimal system design requirements Test by sw-physics co-simulation • Improved communication & design specification Detailled Component Design Test => time & cost reduction Model based: • Parallel = fast • validation on model = early26.10.2012 Slide 6
  7. 7. CONFIDENTIAL Why early: cost vs. freedom Virtual Lab Field model model model • Design & test • Cost (project, freedom build, • Unlimited measurement, measurements change) in simulation Risk / Effort • Real world • Lots of risks representation • Number of people involved Time26.10.2012 Slide 7
  8. 8. CONFIDENTIAL How ? 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 transformations26.10.2012 Slide 8
  9. 9. CONFIDENTIAL How: examples Some research projects • Modelisar: Modelica + Autosar • Destecs: co-sim CT + DE • Deploy: B for dependable sw Multi domain tools: • Matlab/Simulink + SimMech+StateFlow + RTW + AutoSar • Dymola / Modelica • LabView • SysML / Raphsody26.10.2012 Slide 9
  10. 10. CONFIDENTIAL How : Modelisar / Autosar ? Customer needs  Adaptive Cruise Control  Lane Departure Warning Application sw  Advanced Front Lighting System standardized Autosar = Using standards  Communication Stack Automotive  OSEK hw interface HW-specific  Diagnostics  CAN, FlexRay Hardware Modelica = Plant modelling26.10.2012 Slide 10
  11. 11. CONFIDENTIAL 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 • open26.10.2012 Slide 11
  12. 12. CONFIDENTIAL Content 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 & demonstration26.10.2012 Slide 12
  13. 13. CONFIDENTIAL 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 control26.10.2012 Slide 13
  14. 14. CONFIDENTIAL 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 frameworks26.10.2012 Slide 14
  15. 15. CONFIDENTIAL Dredging • Dredging = Underwater excavation • No visual • Introducing semi automated control26.10.2012 Slide 15
  16. 16. CONFIDENTIAL Scale model26.10.2012 Slide 16
  17. 17. CONFIDENTIAL Actuators Full scale  Hydraulic pistons vs. Scale model  Electric linear actuators 12V  full speed out 0V  no movement -12V  full speed retract26.10.2012 Slide 17
  18. 18. CONFIDENTIAL Sensors Incremental encoders 2 shifted square waves Step and direction information Driving step counter (up and down) 1 index pulse / revolution Absolute positioning26.10.2012 Slide 18
  19. 19. CONFIDENTIAL Continuous Time model26.10.2012 Slide 19
  20. 20. CONFIDENTIAL 3D Model • STL-files for visualisation • Mass & Inertia • Dimmensions26.10.2012 Slide 20
  21. 21. CONFIDENTIAL Discrete Event model26.10.2012 Slide 21
  22. 22. CONFIDENTIAL Excavator model26.10.2012 Slide 22
  23. 23. CONFIDENTIAL Operator • Joystick inputs (from CSV files) • Pressing buttons • Power on • Start/Stop • Manual/Assisted mode26.10.2012 Slide 23
  24. 24. CONFIDENTIAL 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)26.10.2012 Slide 24
  25. 25. CONFIDENTIAL Controller26.10.2012 Slide 25
  26. 26. CONFIDENTIAL Operation modes Direct mode Assisted mode26.10.2012 Slide 26
  27. 27. CONFIDENTIAL Assisted mode X-joystick Y-joystick Scoop-joystick Angular velocities: Actuator velocities: Boom, Stick, Boom, Stick, Boom linear actuator Bucket Inverse Bucket Kinematics Stick linear actuator kinematics Bucket linear actuator Boom encoder Stick encoder Bucket encoder26.10.2012 Slide 27
  28. 28. CONFIDENTIAL 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 projects26.10.2012 Slide 28
  29. 29. CONFIDENTIAL Excavator : current practice System design • requirements doc • architecture doc • design specs doc Detailed design actuator Mechanics Hydraulics Electronics control sw • 3D CAD • 1D model • schematic • C-code sensor Build & Integration Final product • Test & verification26.10.2012 Slide 29
  30. 30. CONFIDENTIAL Excavator : with DESTECS Co-Sim IF • version tracking • co-sim solver • design space exploration • fault injection 20sim VDM++ • continuous time • discrete event • multi-disciplinary • inherent condition checking • graphical • formal • open libraries with • graphical (via UML) validated components • support for sw methods • from high level to detailed • C-code generation26.10.2012 Slide 30
  31. 31. CONFIDENTIAL Time for a demonstration26.10.2012 Slide 31
  32. 32. CONFIDENTIAL Any questions?26.10.2012 Slide 32
  33. 33. CONFIDENTIAL 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 VERHAERT MASTERS IN INNOVATION® helps companies and governments to innovate. 2201 BB Noordwijk (NL) We design products and systems for organizations looking for new ways to provide value Tel: +31 (0)633 666 828 for their customers. willard.vanderheijden@verhaert.com We are a leading integrated product innovation center; creating technology platforms, More at www.verhaert.com developing new products and business in parallel, hence facilitating new-growth strategies for our clients.26.10.2012 Slide 33

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