Formal Development of Reactive Systems: Case Study Production Cell
Formal Development of Reactive Systems: Case Study Production Cell
The Pragmatics of Model-Driven Development
IEEE Software
A Software Platform for Component Based RT-System Development: OpenRTM-Aist
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Efficient implementation of IEC 61499 function blocks
ICIT '09 Proceedings of the 2009 IEEE International Conference on Industrial Technology
A Synchronous Approach for IEC 61499 Function Block Implementation
IEEE Transactions on Computers
Coordinating software components in a component-based architecture for robotics
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Efficient WCRT analysis of synchronous programs using reachability
Proceedings of the 48th Design Automation Conference
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The model-driven approach is an increasingly popular trend in software design. It provides many benefits in terms of system design, reusability, and automatic code generation. In the industrial automation domain, the IEC 61499 standard is a recent initiative that adopts this approach. It offers an open, platform-independent framework for designing distributed control systems, whereby the interface and behaviour of a component is described using a function block. On the other hand, in the robotics domain, the Robotic Technology Component specification proposes a framework that allows software components to be easily integrated in a robotic system. The focus of that specification is not so much on the definition of each component's internal behaviour, but rather on the management and interaction of those components. The combination of both these standards offers a comprehensive solution for designing robotic software components in a model-driven approach. This paper describes a tool-chain for doing so, and illustrates its viability through an example.