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Rapid prototyping of real-time control laws for complex mechatronic systems: A case study
Abstract
Rapid prototyping of complex systems embedded in even more complex environments raises the need for a layered design approach. Our example is a mechatronic design taken from the automotive industry and illustrates the rapid-prototyping procedure of real-time-critical control laws. The approach is based on an object-oriented structuring allowing not only central control units but also distributed control units as needed by today’s designs. The implementation of control laws is a hardware-in-the-loop simulation, refined in steps and reducing the simulation part at every one of these. On the lower level, common platforms, such as FPGAs, microcontrollers or specialized platforms, can be instantiated.
... Rapid prototyping is an advanced system development and simulation technology. Rapid prototyping use the virtual instrument technology and corresponding hardware development platform, with the system program downloading to the hardware platform, finally set up the rapid system model, and carried out simulation test verification and hardware in the loop test verification of the whole system [6][7][8] . The rapid prototyping technology can meet the needs of designing aero-engine control system in real-time, high reliability, good expansibility, universal code portability, strong ability of data processing and many other advantages, so as to improve the efficiency and reduce the cost of system development. ...
... The use of rapid prototyping for hardware in the loop simulation of control algorithm is effective which can be seen from the diagram. 6 ...
For the rapid test verification of aero-engine control and gas path fault diagnosis algorithm, the rapid prototyping hardware in the loop test verification method of the aircraft engine function algorithm module was designed, which based on the virtual instrument language and rapid prototypingtechnology.CompactRIO and its extension boards were utilized to build the rapid prototyping test verification platform for aircraft engine function algorithm, the control algorithm and the gas path fault diagnosis algorithm was deployed to the hardware in the loop whichbased on rapid prototyping, for the simulation of the algorithm on the platform.Finally, as an example of a turbofan engine PID control algorithm and gas path fault diagnosis algorithm, hardware in loop simulation test verification was carried through the rapid prototyping of platform. The results show that the rapid prototyping platform and its design method can realize the algorithm verification fast and flexible.
... Examples of model-based engineering techniques and tools are model-based requirements engineering [Von der Beeck et al. 2002], model-based design [Gomaa 2000;The Mathworks -SIMULINK 2007], model checking [Katoen 1999], model-based code generation [De Wulf et al. 2005;Huang et al. 2006], hardware/software co-simulation [Rowson 1994;PTOLEMY project 2007], hardware-in-the-loop testing and rapid prototyping [Hanselmann 1996;Deppe et al. 2004], and model-based testing [Brinksma and Tretmans 2001;Hartman 2002]. In most cases, however, these model-based engineering techniques are investigated in isolation and only cover specific phases of the system development process, and little work is reported on combining such techniques into an overall model-based engineering method. ...
... In contrast to the widely applied analysis techniques mentioned above, which focus on models only, model-based integration techniques that combine models and realizations are less common for many paradigms. In the dynamics and control paradigm, e.g., in automotive and mechatronics applications, hardware-in-the-loop testing (controller realization with plant model) and rapid prototyping (controller model with plant realization) are frequently used [Hanselmann 1996;Deppe et al. 2004;Verhoef et al. 2007]. Also applications in the real-time embedded software paradigm often use hardware/software co-simulation techniques, in which the software realization is executed on a model of the hardware platform [Rowson 1994;PTOLEMY project 2007]. ...
... The research on methodologies of shortening development cycles of complex systems has been an important area of design automation and was captured more attention in recent years123. Although automatic design and implementation are still in an early experimental stage, more and more researchers realize that it is possible to partially implement the design automation to reduce the development time. ...
... Although automatic design and implementation are still in an early experimental stage, more and more researchers realize that it is possible to partially implement the design automation to reduce the development time. Furthermore, it has been shown that for a step-wise mechatronic system realization, the structure of the information-processing hardware and software must be closely related to that of the mechanical, hydraulic, and electrical components [1]. It is thus necessary to design a reconfigurable platform enabling the rapid deployment of hardware and software components, on which control systems can be implemented. ...
In this paper, the methods to rapidly deploy closed-loop control systems are presented. A flexible real-time embedded platform based on reconfigurable computing technologies is established, on which control blocks consisting of optimized control algorithms are set up. By employing control blocks, a set of tools aiming to shorten the development cycle of embedded control systems are developed. Compare to conventional ways, the tools give controller developers much faster ways to construct required controllers with higher flexibility.
... Bipedal walking robot is one of the most complex robotic systems, which requires great precision in simulation and allows demonstrating basic problems of libraries for modelling. Physical model of educational platform the biped robot ( Fig. 1) [8] was used for experiment developed using the technology of rapid prototyping [9] and three-dimensional virtual model. ...
... As an efficient control design method, Rapid Control Prototyping (RCP) has been widely used in many engineering fields such as mechatronics [1], [2], automobiles [3], motion control [4], and so on. RCP provides a fast and cost-effective way for control engineers to quickly create working control system prototypes, verify their control algorithms on hardware in similar environments to the real ones, and evaluate their control performances before entering the embedded implementation stage. ...
In this paper, we propose a light-weight rapid control prototyping (RCP) system based on off-the-shelf open source hardware to achieve high performance computing, cost effectiveness, portability, and easy accessiblity. The proposed RCP system consists of a PC-based computer-aided control system design (CACSD) tool for computing control action and tiny palm-sized open source hardware for input and output (I/O) operation and data transfer through a built-in high-speed USB interface. The popular-priced and portable open source hardware is used as a bridge between CACSD tools and real plants to deliver the control and sensor data at the sampling time points. Ten input and output (I/O) function blocks written in C code are developed based on the CACSD tool employed for the proposed light-weight RCP system in order to handle I/O operation in a simple way. In addition, we suggest two practical strategies, a batch transfer strategy and a variable sampling period method, to increase the sampling rate of the control system. It is shown through experiment that the proposed light-weight RCP system works well up to a sampling rate of 2 KHz without adopting expensive hardware and C code generators. It is expected that the proposed RCP system will be considered as affordable and readily available to schools for mass education.
... There are number of publications and conference contributions in which different aspects and methods of RCP were analysed and discussed. Using RCP in mechatronic systems as in the main area of control application is discussed by Glesner at al (2002), Deppe at al (2004), Kennel at al (2006), Todcher et al (2005. RCP in automotive applications is considered by Lee et al (2004), Dieterle (2005), Munzenberger (2003, Hilgers andAment (2007), Hoffmann et al (2006). ...
This article introduces and discusses the development of a low-cost Rapid Control Prototyping Platform (RCPP). The aim of RCPP is to automate design of control algorithm of electromechanical actuators and simultaneous implementation it into a target microprocessor. The RCPP is stand-alone system containing software tools and electronic hardware in order to provide all development steps from system identification, model-based control design and code generation up to hardware implementation. The system can be used for development of a torque, speed or position controller for low power electromechanical actuators especially in the area of automotive application. The hardware of the platform is based on a 16-bit microcontroller and includes essential power semiconductor switches, sensors and communication interfaces. The presented RCPP system supports Real-Time-Work interface of MATLAB/Simulink and Calibration Protocol for CAN-Bus communication.
... Different groups have been working on acceleration and debug environments for FPGA designs. In (Deppe et al., 2004) a framework for the design of control algorithms for mechatronic systems, including HIL simulations, was presented. The design and implementation of linear, time-invariant (LTI) control systems on FPGA technology was described using a self-developed software called Computer-Aided Mechatronics Laboratory (CAMeL), as design environment. ...
A framework to perform hardware-in-the-loop (HIL) simulations in the designflow of digital controllers, based on Field Programmable
Gate Array (FPGA) technology, is presented. The framework allows the interaction of digital controllers, implemented on our
rapid prototyping system RAPTOR2000 with a Matlab/Simulink simulation running on a host computer. The underlying hardware
and software designs supporting the interaction of the digital control and the simulation are presented. The designflow of
FPGA-based digital controllers when using HIL is described and examples are given. Results from HIL simulations are presented,
showing that the acceleration of the simulation increases with the complexity of the design when the number of I/Os stays
constant. Furthermore, using the proposed HIL framework the clock accurate verification of the design can be achieved within
the design phase.
... Because a repetitive operation on the same work is inherent when designing a control system, conventional handwork programming is inefficient when paired with increased pressure for reducing product time-to-market. Rather than conventional low-level programming languages, graphical model-based programming has been increasingly used for real-time simulations, and " hardware-in-the-loop " (HIL) applications have been utilized to obtain rapid prototyping of various electrical and mechanical systems141516 . Compared with handwork programming, the most significant benefit of cuttingedge control applications is the automatic generation of program codes through a user-friendly graphic interface, which decreases the time required for system development. ...
This paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) legged mechatronic
system (LMTS). A six-bar linkage mechanism, which is derived from a four-bar linkage with a symmetrical coupler point and
pantograph into one, is designed, and common controllers are used to control the velocity and position loops.
For system-based dynamic optimization, the design for control (DFC) approach is used to integrate the structure and control
for improving dynamic performance with reduced control torque.
Finally, for a rapid 3D graphical based implementation of the system, high-level computer-aided rapid system integration (CARSI)
technology is used to integrate the structure design, controller design, and system implementation into the design and analytical
software environment based on Pro/engineer, XML syntax, Simmechanics, and Simulink. Thus, the development time for the LMTS
is reduced.
... Both formalisms lack of explicit support for material flow and collisions – the first-class citizens of the present approach. The existing tools and approaches for HIL/SIL simulation , also called virtual commissioning [8, 20, 21], do not consider the integration of their models and methods into the broader context of system development. This greatly enhances the effort of their application and produces redundancies in the project data. ...
Despite the large amount of models for different aspects of factory automation systems, many of these models target at individual and in most cases static aspects of the system, such as the geometry or its electric parts. There is a lack of suitable description methods, which integrate these individual models to a behavior model including spatial aspects and the handling of material. Furthermore, it is important that this model keeps the link to the more detailed individual models and is sufficiently formal in order to allow an automated analysis. This paper provides a solution to this problem by introducing a model which addresses both spatial structure and behavior and is based on a thorough mathematical theory. Complementary, we report on a tool realization of the modelling theory and explain how the model supports the development of mechatronic systems.
This paper proposes a rapid prototyping framework based on open source tools for real-time solution of Ordinary Differential Equations (ODE) problems on embedded microcontrollers. A plug-in software for the deployment of ODE solvers, in C language, on embedded industrial environment is proposed. By means of C portability across different microcontrollers architectures, there is the possibility to give a considerable boost in rapid prototyping of mechatronics and complex embedded system applications. Some commercial softwares feature toolsets for the autogeneration of open C code, but they do not provide the translation of the ODE solvers' routines for embedded systems. A key for open source software integration has been the adoption of an infrastructure based on a Database Management System (DBMS) on board of the embedded system.
To meet the requirements of micro turbine engine (MTE) control, this paper proposed a kind of rapid prototype control system based on the industrial control computer, which can provide integral interface for actuators and sensors of the MTE control system and Windows- based real-time control software development environment. The technology of rapid prototype can significantly improve the development efficiency of embedded control systems. This rapid prototype control system can not only control MTE, but also log the experimental results in real-time with friendly man-machine interface, which is very important for MTE control study. The effectiveness of this rapid prototype control system was validated by a series of test bed experiments.
As an advanced technology, stereo lithography apparatus of rapid prototyping (RP), has been widely accepted as an efficiency way for fabricating new production with shorter cycle and lower cost. Nowadays, a variety of rapid manufacturing technologies have emerged and developed, such as stereo lithography apparatus (SLA), selective laser sintering (SLS), fused deposition modeling (FDM), laminated object manufacturing (LOM). In this study, we carry out the study of SLA rapid prototyping that works with layer-by-layer manner. During the fabrication process, ultraviolet light is selectively exposed to liquid resin to establish model. However, because of photo-polymerization and simultaneously shrinkage, the finished model has the defect of volume shrinkage. For the reason of avoiding severe volume shrinkage and dimensional instability, the finished precision study of LSA is carried out. A non-standard gear is selected as research object and fabricated in SLA machine. The four typical scanning modes of SLA are respectively conducted in this study. The research results indicate that SLA parameters, especially for scanning mode and scanning speed, have closely relationship with forming precision. The finished precision of XYST mode is prior to the XY mode, and the X-Y mode is prior to the X-X mode. The lower scanning speed and surface recoating process might enhance the finished precision.
In order to meet the requirements of turbo-fan engine fault diagnosis, a kind of rapid prototype simulation design way based on the baseline of the engine for gas-path fault diagnosis was proposed. Considering the precision of the fault diagnosis in the flight envelope influenced by the engine baseline, optimal transformation index was selected in simulation transformation for the setup of baseline. The weighted least-squares algorithm was used to design the fault diagnosis model, which was downloaded to National Instrument (NI) CompactRIO to form rapid prototype simulation system. A series of test experiments on a turbo-fan engine show the effectiveness of this rapid prototype design method for gas-path fault diagnosis.
Centered on NI (National Instruments) CompactRIO, a real-time simulation platform with rapid prototyping was built to validate the fault diagnosis approaches for turbo-fan engine sensors rapidly and efficiently. Based on a bank of Kalman filters, an turbo-fan engine sensor fault diagnostics system was developed in LabVIEW environments. Extensive experiments were conducted for the fault detection, isolation and restructuring of individual sensor faults, at both steady state and dynamic conditions. The accuracy of the proposed algorithm was thus verified. Experimental results showed that Kalman filter algorithm could ensure safe operation of engine control system even in the case of sensor failures, the best accuracy of diagnosis reached 1.4%, and the effectiveness of this rapid prototype real-time platform for sensor fault diagnosis was also shown. Consequently, the developed platform could be taken as the foundation for semi-physical tests.
Stereo lithography apparatus is an advanced technology that uses photopolymers as the
raw materials from which the prototypes are built. The RP manufacture system uses lasers or
ultraviolet light to expose selectively the surface of the liquid resin and builds a three-dimensional
part according its CAD model in a layer-by-layer manner. The absorption of energy causes
photo-polymerization that changes the liquid resin into a solid, expanding the cured volume but
shrinking simultaneously. The primary reason for the volume distortion and deformation of the stereo
lithography apparatus part are the interlaminar stress generated by resin contraction. The volume
shrinkage and curl distortion of the resin will lead to poor accuracy of the built prototype because the
bending stress cannot be compensated for. Selecting a non-standard gear as experimental object and
manufactured in the SCPS350B rapid prototyping machine. Four kinds of scanning mode, includes
X-X mode, X-Y mode, XY mode and XY ST mode, are respectively carried out. From the results, it is
found that SLA parameters, i.e. scanning mode and scanning speed significantly affect the forming
precision of the prototype. The accuracy of the prototype with XYST mode is prior to the XY mode,
and the X-Y mode is prior to the X-X mode. With the lower scanning speed and surface recoating
process can further improve the finished precision.
Recently, the rapid development of high DOFs systems such as humanoids raises the need for a common and real-time control platform. Most works of control platforms focus mainly on software by C/C++. However, the lack of realtime becomes the limitation on controlling such complex robotic systems. In this paper, we present a real-time controller development framework for high DOFs systems. To take the best advantage of Hardware Description Language (HDL), a distributed field programmable gate arrays (FPGAs) controller network is provided. This framework also consists of robotic middleware and programming environment. The proposed scheme allows control of a wide class of robotic systems in hard real-time. A control platform under the framework is designed and applied on several mechatronic systems. Experiments are presented to show the performance on current computing hardware.
This paper presents a rapid prototyping of realtime controllers for humanoid robotics based on standard off-the-shelf hardware and software. The proposed scheme allows control of a wide class of robotic systems in hard real-time. To take advantage of Simulink graphic programming interfaces, robotic programming environment, middleware and library are also presented based on Matlab/Simulink/RTW toolchain. Experiments are presented to show the performance on current computing hardware.
Numerical device's control usage is problematic by complicated information transfers between control object and control device. Because of this reason it is normal to have a simple feedback device and information transferring channel. The way analyzed at work - simple device forms impulse, which duration t is function of measuring variable, in real time transferred to the microcontroller, where it is changed in numerical code. Model application limits, centre of oscillation, effect of stability on effectiveness, increase of effectiveness limit, measurement errors are defined. Promoters control algorithm as well promoters and control model's results proving theoretical conclusions are presented. Ill. 5, bibl. 8 (in English; summaries in English, Russian and Lithuanian).
This paper reviews the impact of Reconfigurable Hardware (RH) on the design of digital controllers. It starts by showing the application areas in which this technology has more influence. The reasons of the technology migration are then analyzed, pointing specific examples from the literature. Finally, run-time reconfiguration (RTR) of Field Programmable Gate Arrays (FPGAs) is revised and its utilization for designing FPGA-based controllers is presented. The research trends are shown, giving an insight on the potential benefits of using this technology.
A framework to perform hardware-in-the-loop (HIL) simulations in the designflow of digital controllers, based on Field Programmable Gate Array (FPGA) technology, is presented. The framework allows the interaction of digital controllers, implemented on our rapid prototyping system RAPTOR2000 with a Matlab/Simulink simulation running on a host computer. The underlying hardware and software designs supporting the interaction of the digital control and the simulation are presented. The designflow of FPGA-based digital controllers when using HIL is described and examples are given. Results from HIL simulations are presented, showing that the acceleration of the simulation increases with the complexity of the design when the number of I/Os stays constant.
The complexity of real-world industrial control systems is growing rapidly. This raises significant challenges for the use of embedded systems in control applications, since embedded platforms are generally resource limited. In this work we develop a Scilab/Scicos based embedded controller on which various control software can be easily modeled, simulated, implemented, and evaluated to meet the ever-expanding requirements of complex industrial control applications. It is built on the Cirrus Logic EP9315 ARM9 systems-on-chip board. With the developed platform, it is possible to design and implement complex embedded control systems that employ advanced control strategies in a rapid and cost-efficient fashion. Thanks to the free and open source nature of the software packages used, the cost of the embedded controller is minimized.
This paper describes a compact, high-speed special purpose processor, which offers a low- cost solution to implement linear time invariant controllers. The controller has been reformulated into a modified state-space representation based on the operator, which is optimised for numerical efficiency. This Control System Processor (CSP) has been implemented using a programmable ASIC (ProASIC) device. δ
: This paper describes a new design methodology for high performance special purpose architectures. The main benefits beside performance are robustness against technology changes and short design time. Therefore four design paradigms are combined: data-flow orientation, delay-insensitive implementation, pipelined bitserial operators and configurable functionality. Based on this methodology a high performance processor architecture for cyclic executed real-time critical algorithms, i.e. a specialized application domain has been designed. The implementation follows a bottom up approach while the concept has been specified top-down. The feasibility and performance characteristics are illustrated by filter benchmarks. # Multimedia, real-time control, and all kinds of sensor data preprocessing require very high computation resources. In many cases mass production forbids the usage of latest fashion processors. New ideas are necessary to provide sufficient computation resources for affordab...
Zusammenfassung In den bisherigen Forschungsarbeiten des MLaP lag der Schwerpunkt auf der Modellierung von Systemmodellen, die mechatronische Systeme auf der physikalisch-fachspezifischen To-pologieebene, der mathematisch orientierten Verhaltensebene und der rechnernahen Verar-beitungsebene beschreiben. Die hieraus entwickelten Methodiken und Erfahrungen können auf die Formulierung von Arbeitsabläufen (Workflows), die im Mittelpunkt dieses Aufsatzes stehen, beim Entwurf mechatronischer Systeme übertragen werden. Mit Hilfe der Objektori-entierung werden die daraus resultierenden Gemeinsamkeiten in einem Objektmodell für den Mechatronikentwurf zusammgefaßt und verallgemeinert. 1 Das Objektmodell des Mechatronikentwurfs Mechatronische Systeme sind hochkomplex und bestehen aus Komponenten unterschiedlicher Systemdomänen (z. B. Mechanik, Hydraulik, Elektrotechnik, Informationsverarbeitung). Für den systematischen, rechnergestützten Entwurf dieser Systeme ist ein Modell (Systemmodell als Abbild des realen Systems) notwendig, das die interessierenden Systemeigenschaften, z. B. das dynamische Verhalten, hinreichend genau beschreibt, wobei das Verhalten der Kompo-nenten durch domänenspezifische Beschreibungsformen spezifiziert wird. Die Systemmodellierung erfolgt auf unterschiedliche Arten. Das reale Systemverhalten kann durch ein fachspezifisch physikalisch orientiertes Modell beschrieben werden, aber auch die Identifikation und die somit erzeugte Repräsentation des Systemverhaltens durch gemessene Zeit-oder Frequenzdaten stellen ein Modell des Systems dar. Allen Modellen ist gemeinsam, daß sie das gleiche reale System beschreiben, aber unterschiedliche Systemsichten verwenden.
In this paper we present an approach to a decentralized intersection management which will not require much additional infrastructure at the intersection and which can operate in today's traffic so as to increase safety and to avoid congestion. For online optimization purposes which are required to avoid collisions, reduce fuel consumption or enhance traffic throughput, we use workflow processes to prepare available and proven optimization methods so as to configure and run them in an automated manner. Simulation results will prove the efficiency of the strategy.
This paper describes an environment for the rapid analysis, synthesis and optimization of embedded systems. Since the implementation of these systems is rather complicated, we propose a methodology which automates the entire design flow. Flexibility is achieved by allowing manual intervention which is realized via a modular implementation of algorithms which are being provided. The applicability of the proposed approach is shown in terms of an example (UNIX command grep).
Stimulated by microprocessor technology there is increasing interest in the issues of digital control implementation. This paper reviews these issues, from algorithms through current hardware up to the various problems arising with non-ideal behaviour of digital controllers.
The implementation of large linear control systems requires a high amount of digital signal processing. Here, we show that reconfigurable hardware allows the design of fast yet flexible control systems. After discussing the basic concepts for the design and implementation of digital controllers for mechatronic systems, a new general and automated design flow starting from a system of differential equations to application-specific hardware implementation is presented. The advances of reconfigurable hardware as a target technology for linear controllers is discussed. In a case study, we compare the new hardware approach for implementing linear controllers with a software implementation.
This paper presents an approach to a function-oriented structuring
of mechatronics systems, exemplified by means of an autonomous vehicle,
the X-mobile, including an active wheel suspension. This vehicle is a
fine example of the design methodology of mechatronic systems conceived
at the MLaP (Mechatronics Laboratory Paderborn). The design methodology
centers around a holistic, interdisciplinary consideration of all system
components involved. The development of the X-mobile, from early stages
to the simulation to the implementation, is also described. Furthermore,
this paper includes detailed technical information
With the steady increase in microcontroller performance,
mechatronic systems have become more and more complex. This requires new
organizational structures both in system design and in controller
structure. For system design, a practical way of structuring mechanical
systems vertically and horizontally has already been presented in a
number of papers. This structure has to be reflected in the controller
as well. The aim of this paper is to adapt and combine well-known
controller design techniques to make up a new and well-structured way of
controller design tailored to the organizational structure of
mechatronic design. After a brief overview of the mechatronic design
structure, this new controller design technique will be presented on the
basis of the cascade structure of SISO controllers and the centralized
controllers with state-vector feedback. For an example, the controller
of a new modular railway system is presented, with special emphasis on
the active suspension/tilt system
This paper presents a new approach to the design of embedded systems. Due to restrictions that state-of-the-art methodologies contain for hardware/software partitioning, we have developed an emulation based method using the facilities of reconfigurable hardware components, such as field programmable gate arrays (FPGA). Our own emulation environment called the SPYDER tool set was used; it is best suited for the emulation of hardware designs for embedded systems
In this paper we present the architecture and implementation of
our new configurable and scalable chip well suited for rapid prototyping
of asynchronous designs. A flexible number of arithmetic operators, e.g.
720 add/sub operators for the first chip, are interconnected via a
configurable network. For demonstration a DCT algorithm was mapped onto
the chip
The aim of rapid prototyping real-time applications is to
substantially reduce development times by confirming the functional and
timely requirements of the application at a very early stage of
development with the help of an executable prototype. Hence, the
real-time rapid prototyping system presented in this paper integrates
two complementary tasks. On the one hand it provides an automated design
environment for a rapid and facile generation of a working prototype. On
the other hand, the design process is extended with real-time
requirement specification and analysis in order to prove that the
embedded system will meet all timing requirements, and to verify that
the timing requirements have been modeled correctly. The REAR framework
uses annotated SDL for the system specification, from which both the
compilable source codes and the real-time analysis model are generated.
After instrumentation for timing measurements, the C and VHDL source
code is compiled and synthesized, linked with communication libraries
and executed on the configurable, heterogeneous multiprocessor target
system. Several case studies demonstrate the feasibility of this
approach
As the one-chip integration of HW modules designed by different
companies becomes more and more popular, reliability of a HW design and
evaluation of the timing behavior during the prototype stage are
absolutely necessary. One way to guarantee reliability is the use of
robust design styles, e.g., delay insensitivity. For early timing
evaluation, two aspects must be considered: a) the timing needs to be
proportional to technology variations, and b) the implemented
architecture should be identical for prototype and target. The first can
be met also by delay insensitive implementation. The latter one is the
key point. A unified architecture is needed for prototyping as well as
implementation. Our new approach to rapid prototyping of signal
processing tasks is based on a configurable, delay insensitive
implemented processor called FLYSIG (dataflow oriented delay-insensitive
signal processing). In essence, the FLYSIG processor can be understood
as a complex FPGA where the CLBs are substituted by bit serial
operators. The general concept is detailed and first experimental
results are given for demonstration of the main advantages: delay
insensitive design style, direct correspondence between prototyping and
target architecture, high performance and reasonable shortening of the
design cycle
Coach active suspension system design must meet requirements for
comfort and safety, and technical requirements. A hydropneumatic system
was taken to be the most appropriate spring system. In a hydropneumatic
strut, spring and damper elements are replaced by hydraulic ones, the
flat spiral spring being replaced by a hydraulic accumulator and an
actuator with the damper being replaced by a throttle and an actuator.
The stabilizer is abolished altogether. After the statical properties
were established a dynamical model of the entire coach, including active
components, was made up helping to verify further dynamical loads and
demands relating to control engineering. The article describes the
design process
In this paper we present a customized approach to performance and area optimization of asynchronous functional blocks. First an abstract model of the block architecture is introduced and an analytical method for throughput maximization is described. Secondly, area optimization can be performed with respect to data dependencies and merged data paths. These methods have been implemented and validated by several examples. A first chip implementing all relevant architecture blocks has been produced. The chip is named FLYSIG and operates completely delay-insensitive.
This paper will present a proposal for a structuring of mechatronic systems as a basis for a generalized design method. The approach discussed is a combination of hierarchical and modular organization of and distinction between mechatronic system components. On the lowest hierarchical level, physically related sensors, actuators, mechanical structures, and information processing units are combined to make up Mechatronic Function Modules (MFM). Two or more MFMs form an Autonomous Mechatronic System (AMS) which, in contrast to an MFM, will exclude sensors or actuators that are not part of an MFM.The highest hierarchical level is formed by a combination of two or more AMSs to form a Cross-linked Mechatronic System (CMS). Inside a CMS, the AMSs provide no mechanical coupling with one another; instead they are connected by means of informational devices. This paper will discuss these three levels in detail and present elaborate examples of structured systems. This work is supported by the D...
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X-mobile: A mobile vehicle of research and education
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