developing software that drives...

Developing software that drives machines

Klaas Gadeyne

© FMTC vzw 2010 • p2

Outline

+Flanders' Mechatronics Technology Centre+Some aspects of SW development for mechatronic machines

– The mechatronics domain– Software platforms for mechatronic SW development

• The AutoSAR platform– Business models used during mechatronic SW development

• The Simulink tool/model


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Market trends lead to distributed intelligent machines

Market Trends:• Increased Productivity• Comfort for operator• Better Energy-efficiency• Customization• Flexible machines• Faster product-innovation• Improved Reliability• Total Solutions• Additional Services

Enabling Product Trends:• intelligent control & sensing• modular & platform-based design•telemonitoring, telediagnostics, service architecture


Mission of FMTC

Jointly develop new and improve existing generic mechatronic competences and technologies to improve the competitive edge of its member companies


Members

http://www.atlascopco.be/

http://www.cnh.com/home.asp

http://www.dana.be/Brugge/CompanyInfo/history.shtm

http://www.gilbos.com/

http://www.hansentransmissions.com/

http://www.lvd.be/

http://www.pattyn.com/

http://www.picanol.be/

http://www.vandewiele.com/

http://www.mech.kuleuven.be/en/pma


FMTC bridges the research gap between academia and industry

Universities & Research Centres (PMA)

FMTC

Consulting Centres (Sirris)

ytp = year to product

Fundamental Research

TopCompetences

Joint Projects

Consultancy

Contract Research

2 ytp4 ytp6 ytp

Strategic Research

Collective Research

8

48

370

Companies


FMTC in graphs (2008)

It’s the ambition to double the size of the centre by 2012.

© FMTC vzw 2010 • p10

IPR Policy

FMTC has a unique partnership model for collective research

CollectiveResearch

PMA & otherResearchCenters

Participatingcompanies

Steering commission perprojectDefinition Evaluation

cooperation

Resultsresidents

Cases

Use inbilateralcontracts

© FMTC vzw 2010 • p11

Demand-driven joint projects

+/- 40 projectideas

+/- 7 projects

Clustering

Com

panyInterest

Selection

Com

panyInterest

Advise Board

idea fair

Visionary seminars

© FMTC vzw 2010 • p12

Energy-efficientelectro-mechanicaldrive lines

Wireless ControlArchitectures

Smartself-diagnostics

Control designElectrical actuatorsSystem modeling

Industrial communicationControl software Engineering

Condition Monitoring Algorithms Customized sensing

Ecological Machines Flexible Machines Intelligent Machines

Mechatronic System Design

FMTC projects and top competences are grouped in three clusters

© FMTC vzw 2010 • p13

FMTC project clusterecological machines

+Iterative learning control applied on various use cases:

– For realizing smooth wet-plate clutching

– For active vibration and noise reduction

– Improved wire winding– Motion control of linear actuator – Learning and scheduled control

+Design of application-specific piezo- and electromagnetic actuators+Lumped parameter physics-based dynamic modeling for:

– Moving mass actuator design– Tablet press analysis– Winder machine design

Load cellLoad cell

© FMTC vzw 2010 • p14

The FMTC project clusterflexible machines+Industrial Communication Technologies:

Bluetooth Control profileClock Synchronization for CANOpen EtherCAT masterZigbee sensorsWiMedia CommunicationWireless power solutions

+Machine Control Engineering Methods:

OROCOS (open real-time control services) FrameworkMachine Emulator PlatformEclipse tool chain for model based SW development

COMBINE CONTROL MODULE 3

SHAFTSPEED

MONITOR



RIGHTHAND

MODULEHANDLE

ENGINEGOVERNOR

MODULE

CAN BUS

SERVICE TOOL /END OF LINE TOOL

T

P

ADVANCEDSTONE

DETECTION

T

T

CNH Software

Standard

Optional

CNH Control

Terminator

PCMCIA Card

T

PC

INTEGRATED COMBINEDISPLAY

UNIT

D/GPSRECEIVER

PC

GRAINQUALITYMONITOR

YMIU

Moisture Sensor

Grain Flow Sensor

Bypass ControlCOMBINE CONTROL MODULE 3

SHAFTSPEED

MONITOR



RIGHTHAND

MODULEHANDLE

ENGINEGOVERNOR

MODULE

CAN BUS

SERVICE TOOL /END OF LINE TOOL

T

P

ADVANCEDSTONE

DETECTION

T

T

CNH Software

Standard

Optional

CNH Control

Terminator

PCMCIA Card

T

PC

CNH Software

Standard

Optional

CNH Control

Terminator

PCMCIA Card

T

PC

INTEGRATED COMBINEDISPLAY

UNIT

D/GPSRECEIVER

PC

GRAINQUALITYMONITOR

YMIU

Moisture Sensor

Grain Flow Sensor

Bypass Control

© FMTC vzw 2010 • p15

The FMTC project cluster intelligent machines

+Condition monitoring – steel wire quality detection at Bekaert– preventive maintenance for FEI and

Océ: combination of data mining and prognostics

– Model-based diagnostics and Bayesian network diagnostics on an Airco

– bearing damage in weaving machines and gearboxes

+Customized sensors:– Radial force measurments.– Torque estimation.– Contactless measurement of

temperature distributions– Detection and localization of

intermittent connector faults– Ultrasonic inspection of steal fibre

mats.+(Networked Machines)

transmittersreceivers transmittersreceivers transmittersreceivers

© FMTC vzw 2010 • p16

Badminton robots brings FMTC competences together (youtube → jada badminton)+Highly dynamic application.+3-axis actuation system.+3D vision system in the loop.+This year:

– Energy efficient actuation.– Wireless in the loop.– Automatic failure diagnostics.– SysML based system design flow

© FMTC vzw 2010 • p17

FMTC is looking forward to collaborating with you !The mechatronics domain

© FMTC vzw 2010 • p18

Mechatronics domain model

ECUECU ECU

© FMTC vzw 2010 • p19

Applied to the Badminton Robot

© FMTC vzw 2010 • p20

Mechatronics machines

+What are differentiatiors with other SW development?– Involving (control of a) “physical” machine– Involving interaction between different domain experts

• Hardware specialists– Mechanics– Thermal– Electrical

• Software specialists• Computer Hardware (ECU) specialists

+What varies even in mechatronics sector– Going from expensive one-off prototype machines such as

badminton robots driven by COTS computer hardware to production sizes of over 6000 million cars (VW, 2007).

– For some designs, particular domains are more important than others

© FMTC vzw 2010 • p21

Traditional SW development

In traditional development methods information is stored in documents. But, every time the information is processed by humans, it is actually transformed into a model – a mental model. We don’t think in terms of linear text when we reason about technical solutions. Instead we create some sort of model of the system in our head and reason in terms of that model. It may well happen of course that different people get different mental models from the same linear text as there may be several ways to transform it into a mental model.

© FMTC vzw 2010 • p22

Model Based SW development

+The solution is the set of models

+Test as much as possible on the solution

+The solution can be transformed into the final deliverable

– Code generation– Manual coding

Requirements

Code

Models test

© FMTC vzw 2010 • p23

Now that you are all mechatronic experts

+What do I mean with– Software Platforms– Typical models for Mechatronic SW development

© FMTC vzw 2010 • p24

One step back: requirements

© FMTC vzw 2010 • p25

+ AutoSAR key features (from the AutoSAR website)

Platform

ScalabilityModularity

Flexibility

Maintenance

Reliability

Configurability

© FMTC vzw 2010 • p26

(Software) Platforms are typically covering NFR

© FMTC vzw 2010 • p27

Mechatronics domain model

ECUECU ECU

SW PlatformBusiness SW

© FMTC vzw 2010 • p28

One such platform: The AutoSAR platform

© FMTC vzw 2010 • p29

AutoSAR: Configurability “solved” by the platform

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(AutoSAR) Component model

© FMTC vzw 2010 • p31

Component models in the Mechatronics world

+Depending on the “subbranch” of mechatronics, often a different component model is used

– They all look the same (similar)...– Sure: most non-functional requirements leading to the

AutoSAR component model are not automotive specific, hence...

– One of them is the AutoSAR component model+Typical for these frameworks is the presence of so-called

“data-flow” ports...– Because often the models used are data-flow models...

© FMTC vzw 2010 • p32

Platform Model(ing) language

+A mechatronics SW architecture is typically a set of SW components working together

+Notice that this is a graphical model, describing part of the solution...

© FMTC vzw 2010 • p33

(Business) Models in the mechatronics world

+Remember: everything is a model ;-)– Platform models– Business logic (functional) models (Platform Independent Models)– Configuration models– Combinations...

+This section: PIM modeling

© FMTC vzw 2010 • p36

“Limits” of UML (for mechatronic SW development)+No real formal semantics, especially when it comes to

behavioural modeling– Semantic variation points– No executable semantics

+(Generally) Poor tool support for model execution– FSM Simulation is an exception

+Complex for non-SW engineers– In mechatronic SW development, the models fulfulling functional

and performance requirements (the business logic) are typically created by “domain experts”, which have little affinity with SW (and hence SW modeling languages)

© FMTC vzw 2010 • p37

(Executable) Behavioral modeling languages

+Different modeling paradigma's to describe physical systems– Some unifying theories such as DEVS (prof. VanGheluwe)

+In practice– Dynamic Systems behaviour modeling languages such as

modelica– Simulink as de facto standard

© FMTC vzw 2010 • p43

Example -> FMTC Eclipse plugin

Add MATLAB model to project: drop into models folder

Select subsystem to be used

Mark auxiliary files (MATLAB script, library, ...)

Examine model in MATLAB

Points to the main mdl.

© FMTC vzw 2010 • p44

Eclipse plugin (bis)Overview of ports & parameters in Project Explorer

Details in model elements tab

Relevant properties of generated code

© FMTC vzw 2010 • p45

Wrap up

+ Mechatronic SW development involves creating SW that drives physical machines

+Some of its requirements can be fulfilled using appropriate “platforms”. SW platforms such as the AutoSAR platform are one example of such a platform.

+Fulfilling functional and performance requirements is typically not done by the SW engineer but by other domain experts. The SW engineer reuses their models and “merges” them with the SW architecture models.

+Some requirements cross these borders ...

developing software that drives...

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