Combining IEC 61499 Model-Based Design with Component-Based Architecture for Robotics
The model-driven approach is an increasingly popular trend in software design. It provides many benefits in terms of system design, reusability, and automatic code generation. In the industrial automation domain, the IEC 61499 standard is a recent initiative that adopts this approach. It offers an open, platform-independent framework for designing distributed control systems, whereby the interface and behaviour of a component is described using a function block. On the other hand, in the robotics domain, the Robotic Technology Component specification proposes a framework that allows software components to be easily integrated in a robotic system. The focus of that specification is not so much on the definition of each component’s internal behaviour, but rather on the management and interaction of those components. The combination of both these standards offers a comprehensive solution for designing robotic software components in a model-driven approach. This paper describes a tool-chain for doing so, and illustrates its viability through an example.
KeywordsIEC 61499 model-based design Robotic Technology Component synchronous programs
Unable to display preview. Download preview PDF.
- 1.Amey, P., Dion, B.: Combining model-driven design with diverse formal verification. In: 3rd European Congress on Embedded Real Time Software, Toulouse (January 2006)Google Scholar
- 3.Bhatti, Z.E.: A Model-Driven Approach for Safety Critical Systems. M.E. thesis, Department of Electrical and Computer Engineering, University of Auckland (2011), https://researchspace.auckland.ac.nz/handle/2292/6421
- 4.Bhatti, Z.E., Sinha, R., Roop, P.S.: Observer based verification of IEC 61499 function blocks. In: IEEE International Conference on Industrial Informatics (INDIN), pp. 609–614 (July 2011)Google Scholar
- 6.International Electrotechnical Commission, Geneva: International Standard IEC 61499-1: Function blocks – Part 1: Architecture, 1st edn. (January 2005)Google Scholar
- 7.Kuo, M.M.Y., Sinha, R., Roop, P.S.: Efficient WCRT analysis of synchronous programs using reachability. In: 48th ACM/IEEE Design Automation Conference (DAC), San Diego, pp. 480–485 (June 2011)Google Scholar
- 9.Microsoft: MSDN: Microsoft Visual Studio Extensibility Developer Center (2010), http://msdn.microsoft.com/en-us/vstudio/vextend.aspx
- 10.Object Management Group: Robotic Technology Component Specification, Version 1.0 (April 2008), http://www.omg.org/spec/RTC
- 12.Yoong, L.H., Roop, P.S., Salcic, Z.: Efficient implementation of IEC 61499 function blocks. In: IEEE International Conference on Industrial Technology (ICIT), Gippsland (February 2009)Google Scholar
- 14.Yoong, L.H., Shaw, G.D., Roop, P.S., Salcic, Z.: Synthesizing globally asynchronous locally synchronous systems with IEC 61499. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews Preprint(99), 1–13 (2012)Google Scholar