Pleading for open modular architectures - Lirmm

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First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier Figure 6: An abstract view of KeepStable • Suspension or destruction of the former real-time tasks In practice it appears that such a complex mechanism is very difficult to set up and port on different targets. Indeed, according to the properties of the used control laws and plant, it is always not necessary to use the fully-fledged smooth transition protocol ; in particular a simpler transition procedure has been implemented and succesfully experimented in the framework of vision based tasks ([2]). 5.2 Design and code generation toolset Figure 7 pictures the compilation process and integrated tools. The ORCCAD structures are instantiated as C++ classes (or C structures) using virtual system calls, provided by the kernel. For a single processor implementation, all ESTEREL files corresponding to the RTs and RPs logical behaviour are gathered (i.e. put in parallel) in a single file which can be further compiled into various formats. The SC format (sorted boolean equations) is post-processed in C and encapsulated in a high priority real-time thread. The application is finally compiled and linked with run-time libraries to make the down-loadable code. Currently ORCCAD targets VxWorks and RTAI as hard real-time systems and Solaris and Linux as soft real-time systems (using Posix threads). Note that building a real-time simulator running on the same target can be easily done using the same code generation toolset : this is simply done by calling a numerical integrator (itself calling a model of the robotic system) in the drivers of the Physical Ressource [39]. However running the full simulation in real-time requires using an oversized processor to get enough computing power. Various dedicated run-time interfaces are also provided to monitor the execution of the controller. 138
First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier Code generation Control tasks specification Procedure specification Real−time analysis Petri nets (max,plus) C/C++ code generator virtual OrcObjects C/C++ files Compilation with run−time libraries Binaries Graphical Interfaces Modules RTs RPs C files Esterel files Control laws RT behaviours Mission specification VxWorks RTAI/Linux Linux/Posix Solaris Monitoring Parameterization Exploitation Automaton (SCC) XES simulation source code animation Esterel compiler Figure 7: Code generation and associated tools 139 Diagnosis Properties Observers Robot modeling (ODE) Numerical Integrator tuning SC format Simulator
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Organization This first national wo
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Contents Organization…………
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Program April 6, 2006 8:30-9:00 Rec
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First National Workshop on Control
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1 User requirements defined 2 Syste
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Figure 6. Interface for local map (
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Figure 8. Map and robot trajectory
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Decision Planning Navigation Guidan
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• Three Petri nets model level 3:
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Abstract First National Workshop on
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eginning of the next one. A guidanc
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Figure 5 - Supervision interface Fi
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On-going tests First National Works
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DES (Data Exchange System), a publi
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Abstract Horocol language and Hardw
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• langage.xml which describe the
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Coordination programming in Horocol
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[F8] resume [F9] restart [F10] reev
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References First National Workshop
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TABLE I PROBABILITY VALUES FOR PERC
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