Statecharts: A visual formalism for complex systems
Science of Computer Programming
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
The algorithmic analysis of hybrid systems
Theoretical Computer Science - Special issue on hybrid systems
What's Ahead for Embedded Software?
Computer
Proceedings of the First International Workshop on Embedded Software
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Proceedings of the Real-Time: Theory in Practice, REX Workshop
Generating embedded software from hierarchical hybrid models
Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems
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Model-based automatic code generation is a processof converting abstract models into concrete implementationsin the form of a program written in a high-levelprogramming language. The process consists of twosteps, first translating the primitives of the model into(approximately) equivalent implementations, and thenscheduling the implementations of primitives accordingto the data dependency inherent in the model. Whenthe model is based on hybrid automata that combinecontinuous dynamics with a finite state machine, thedata dependency must be viewed in two aspects: continuousand discrete. Continuous data dependency ispresent between mathematical equations modeling time-continuousbehavior of the system. On the other hand,discrete data dependency is present between guardedtransitions that instantaneously change the continuousbehavior of the system. While discrete data dependencyhas been studied in the context of code generation frommodeling languages with synchronous semantics (e.g.,ESTEREL), there has been no prior work that addressesboth kinds of dependency in a single framework. In thispaper, we propose a code generation framework for hybridautomata which deals with continuous and discretedata dependency. We also propose techniques for generatingmodular code that retains modularity of the originalmodel. The framework has been implemented basedon the hybrid system modeling language CHARON, andexperimented with Sony's robot platform AIBO.