Conferencia

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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

Registro:

Documento: Conferencia
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
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
Volumen:2018-December
Página de inicio:1250
Página de fin:1261
DOI: http://dx.doi.org/10.1109/WSC.2018.8632504
Título revista:2018 Winter Simulation Conference, WSC 2018
Título revista abreviado:Proc. Winter Simul. Conf.
ISSN:08917736
CODEN:WSCPD
Registro:http://digital.bl.fcen.uba.ar/collection/paper/document/paper_08917736_v2018-December_n_p1250_Marcosig

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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