Abstract:
Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the DEVS framework for robust modeling and real-time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom-made crafted robotic system is built concurrently with the design of its controller. © 2018 IEEE
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Conferencia
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Título: | Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity |
Autor: | Marcosig, E.P.; Giribet, J.I.; Castro, R. |
Filiación: | Departamento de Ingeniería Electrónica FI, UBA, CONICET, Av. Paseo Colón 850, Buenos Aires, C1063ACV, Argentina Departamento de Computación FCEyN, UBA, ICC, CONICET, Ciudad Universitaria, Pabellón 1, Buenos Aires, C1428EGA, Argentina
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Palabras clave: | Embedded systems; Middleware; Robotics; Embedded platforms; Error prone tasks; Hybrid controller; Low level softwares; Real time simulations; Robotic applications; Sensors and actuators; Software/hardware; Controllers |
Año: | 2019
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Volumen: | 2018-December
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Página de inicio: | 1250
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Página de fin: | 1261
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DOI: |
http://dx.doi.org/10.1109/WSC.2018.8632504 |
Título revista: | 2018 Winter Simulation Conference, WSC 2018
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Título revista abreviado: | Proc. Winter Simul. Conf.
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ISSN: | 08917736
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CODEN: | WSCPD
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Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_08917736_v2018-December_n_p1250_Marcosig |
Referencias:
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Citas:
---------- APA ----------
Marcosig, E.P., Giribet, J.I. & Castro, R.
(2019)
. Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity. 2018 Winter Simulation Conference, WSC 2018, 2018-December, 1250-1261.
http://dx.doi.org/10.1109/WSC.2018.8632504---------- CHICAGO ----------
Marcosig, E.P., Giribet, J.I., Castro, R.
"Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity"
. 2018 Winter Simulation Conference, WSC 2018 2018-December
(2019) : 1250-1261.
http://dx.doi.org/10.1109/WSC.2018.8632504---------- MLA ----------
Marcosig, E.P., Giribet, J.I., Castro, R.
"Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity"
. 2018 Winter Simulation Conference, WSC 2018, vol. 2018-December, 2019, pp. 1250-1261.
http://dx.doi.org/10.1109/WSC.2018.8632504---------- VANCOUVER ----------
Marcosig, E.P., Giribet, J.I., Castro, R. Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity. Proc. Winter Simul. Conf. 2019;2018-December:1250-1261.
http://dx.doi.org/10.1109/WSC.2018.8632504