The Challenges in Building Advanced Mechatronic Systems

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The Challenges in Building Advanced Mechatronic
Systems
Hossein Tajalli 11/08/07
http//www-nbp.upb.de/en/
http//ants.gsfc.nasa.gov
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Evolution of Mechatronic System
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Outline

• Advanced Mechatronic Systems
• Examples
• Architectural Model
• Future Development and Reasearch
• Evaluation

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Advanced Mechatronic System

• Mechanics, Electrical Engineering and computer
  sciences
• Already are smart Mechatronic systems
• Next generation
• Intelligence achieved by gathering information
  from several devices.
• Two Examples
• RailCap
• ANTS

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RailCap

• A modular rail system
• Uses the current railways
• Independent shuttles
• On demand service
• Can form convoys to reduce the energy consumption
• Cost effective

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ANTS (NASAs SWARM MISSION)

• Autonomous Nano Technology Swarm
• Under Concept Development for 2020-2030
• Explore the Asteroid Belt
• A Thousand of Small Spacecrafts
• Work in Groups

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Spacecrafts

• Solar Sail
• On Board Computational Power, Artificial
  Intelligence and Heuristic System to Control the
  Spacecarft
• Low BandWidth Communication in Groups
• In Each Group
• Workers
• Rulers
• Messengers

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Characteristic for Advanced Mechatronic

• High Degree of Concurrency
• Decentralism (Not Centrally Controlled)
• Self-Coordination
• Self-Configuration
• Self-Protecting

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Architectural Models for Mechatronic Systems

• Integration of
• Quasi-Continuous Control System
• Control loops for Mechanical Parts
• Change in control Strategy
• Discrete Control System
• Modeling different components from different
  disciplines
• We will look at two architectural models

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1. Operator-Controller-Module (OCM)

• Wilhelm Schafer and Heike Wehrheim
• Institut fur Informatik, University of Paderborn,
  Germany
• 2007

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Nested OCM
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How to Impalement

• Hybrid Real-time State Chart
• State diagrams
• Continues control
• Mechatronic UML

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2. A Systematic Model Architecture

• Jinfeng Huang et al.
• Department of Electrical Engineering, Eindhoven
  University of Technology, Netherland.
• 2007

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Model Characteristics

• Systematic Modeling
• Concurrent engineering
• Local refinement
• Predictable refinement
• Architectural Model
• correctness-preserving synthesis
• A special synthesis approach
• Implements the system based on the real
  environment timing

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POOSL Modeling Language

• Parallel Object-Oriented Specification Language
• General purpose modeling Language
• Process part, a timed and probabilistic system.
• Data part, object oriented
• Support
• control flow statements
• Parallelism
• Non-determinism
• Interruption
• Synchronous Communication
• Time

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Future Development and Research Challenges

• Processes
• Current approach throw it over the wall
• Version (software) Vs. New Product (mechanics)
• Design for central repository

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Future Development and Research Challenges

• Modeling
• Modeling the Discrete and Continues Parts
• Contains all the Disciplines
• Hardware and Software
• Support Run Time Changes in the System
• Current Modeling Systems
• MATLAB/Simulink
• AUTOSAR

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Future Development and Research Challenges

• Code Generation
• Flexible to hardware changes
• Code for real time restricted parts
• FPGAs are a good possibility

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Future Development and Research Challenges

• Analysis (Model Checking)
• Large State-Space due to Continuous Parts
• Verification is Hard
• Safety Critical Systems,
• High Reliability is Required
• Testing is not Enough
• A third way in between is required
• Based on the hybrid modeling
• Perform integrated hybrid analysis
• Consider Volatility
• Consider emergence of new properties

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Relation to the Embedded system

• Concurrency
• Real Time constraints
• Safety concerns
• Mobility in other level
• Modeling
• Complexity due to Multi Disciplinarily nature of
  the system and Continuous control
• Analysis
• Complexity due to Multi Disciplinarily nature of
  the system and Continuous control

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Evaluation

• Strengths
• Elaborated Explanation of the Problems
• Good Architectural Model Proposed
• Weaknesses
• Some ideas presented in the paper might be far
  away
• In the other paper some possible ways has been
  proposed and tested
• Advances in the embedded system could have been
  considered

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Sources

• Schafer, W. and Wehrheim, H. The Challenges of
  Building Advanced Mechatronic Systems., FOSE,
  May 2007 p72 - 84
• Huang, Jinfeng Voeten, Jeroen Groothuis,
  Marcel Broenink, Jan Corporaal, Henk A
  model-driven design approach for mechatronic
  systems. Application of Concurrency to System
  Design, Jul 2007 p127 136.
• Truszkowski, W., Hinchey, M., Rash, J., Rouff, C.
  NASA's swarm missions the challenge of building
  autonomous software., IT Professional, V. 6,
  Sept.-Oct. 2004 p47 52
• http//www-nbp.upb.de/en/
• http//ants.gsfc.nasa.gov

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Comments or Questions

• Thanks for your Patience