Related papers: Simulation Based Control Architecture Using Webots…
This paper focuses on the simulation of multi-die System-on-Chip (SoC) architectures using VisualSim, emphasizing chiplet-based system modeling and performance analysis. Chiplet technology presents a promising alternative to traditional…
Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…
Model-Based Development (MBD) is widely used for embedded controls development, with Matlab Simulink being one of the most used modelling environments in industry. As with all software, Simulink models are subject to evolution over their…
This paper presents the deductive formal verification of high-level properties of control systems with theorem proving, using the Why3 tool. Properties that can be verified with this approach include stability, feedback gain, and…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on…
System-level design methodologies have been introduced as a solution to handle the design complexity of mixed Hardware / Software systems. In this paper we describe a system-level design flow starting from Simulink specification, focusing…
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline.…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
This paper presents an open source Simulink based program developed for simulating power systems integrated with renewable energy sources (RES). The generic model of a photovoltaic, wind turbine, and battery energy storage is used for the…
A set of hardware in the loop simulation methods based on the UAV model is proposed to create fault data, which is used to judge the parts where faults happen. Actual flight experimental data is utilized to prove the reliability of Simulink…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
We present a tool flow and results for a model-based hardware design for FPGAs from Simulink descriptions which nicely integrates into existing environments. While current commercial tools do not exploit some high-level optimizations, we…
Embedded software systems, e.g. automotive, robotic or automation systems are highly configurable and consist of many software components being available in different variants and versions. To identify the degree of reusability between…
Search-based software testing (SBST) of Simulink models helps find scenarios that demonstrate that the system can reach a state that violates one of its requirements. However, many SBST techniques for Simulink models rely on requirements…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…
Virtualization allows the simulation of automotive ECUs on a Windows PC executing in closed-loop with a vehicle simulation model. This approach enables to move certain development tasks from road or test rigs and HiL (Hardware in the loop)…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…