SenseDSL: Automating the Integration of Sensors for MCU-based Robots - - PowerPoint PPT Presentation

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sensedsl automating the integration of sensors for mcu
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SenseDSL: Automating the Integration of Sensors for MCU-based Robots - - PowerPoint PPT Presentation

Apr 05, 2024 241 likes •371 views

SenseDSL: Automating the Integration of Sensors for MCU-based Robots and Cyber- Physical Systems 2007 DARPA Urban Challenge Autonomously driving vehicle Caroline participating in the 2007 DARPA Urban Challenge. Experimental Miniature Vehicle

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SLIDE 1

SenseDSL: Automating the Integration of Sensors for MCU-based Robots and Cyber- Physical Systems

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SLIDE 2

2007 DARPA Urban Challenge

Autonomously driving vehicle Caroline participating in the 2007 DARPA Urban Challenge.

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SLIDE 3

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Experimental Miniature Vehicle Fleet

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SLIDE 4

Experimental Miniature Vehicle Fleet

Vehicle ¡ ¡ ¡ ¡ ¡ ¡

Infrared ¡ Infrared ¡

ODO ¡ A&G ¡

L L L L L L L L

Infrared ¡

Ultra ¡sonic ¡ Camera ¡ ¡ ¡ ¡ ¡ ¡

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SLIDE 5

Component Component ID Connection Type RC Vehicle 1/10 scale electrically driven on-road vehicle Infrared Sensor SHARP GP2D120 ADC Ultrasonic Sensor Devantech SRF08 I2C Camera Logitech c525 USB Steer/Servo PWM ESC 1/10 Brushless ESC PWM Motor 1/10 Brushless Motor LED Board Self-assembled ADC Razor Board Razor-9DoF-IMU UART Discovery Board STM32F4-Discovery USB Application Board PandaBoard ES USB RC-Handset A3-STX Deluxe F.H.S.S Wireless RC Receiver A3-RX Deluxe F.H.S.S Wireless

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Experimental Miniature Vehicle Fleet

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SLIDE 6

Engineering the HW/SW interface

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Embedded ¡ System ¡ Hardware ¡ Manual ¡ Embedded ¡ System ¡Data ¡ Sheets ¡ Domain-­‑ specific ¡PIN ¡ Constraints ¡

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SLIDE 7

Engineering the HW/SW interface

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  • Total 14,689,111

configuration possibilities

  • Verification of a given pin

assignment configuration

  • Finding a feasible/all

possible/best pin assignment configuration for the interface board

Mamun, ¡Berger, ¡and ¡Hansson: ¡Engineering ¡the ¡Hardware/SoLware ¡Interface ¡for ¡RoboNc ¡PlaOorms ¡– ¡A ¡Comparison ¡of ¡Applied ¡Model ¡Checking ¡with ¡Prolog ¡and ¡Alloy. ¡DSLRob’13 ¡

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SLIDE 8

Infrared

Flashing LEDs left Braking LEDs

Infrared LED Board

PandaBoard ES + Linux

Infrared Ultrasonic Ultrasonic Camera PC1 PC4 PC5

Wheel Encoder 1 Sensor A

USB I2C PWM UART ADC ICU

P_039, P_138, P_140 Steer Motor ESC Razor Board PD8 (TX) PD9 (RX) PC8 PC9 PB6 (SCL) PB9 (SDA)

Wheel Encoder 1 Sensor B

PB7 PB14

Wheel Encoder 2 Sensor A Wheel Encoder 2 Sensor B

PA1 PE5 Software/Hardware Interface Board Ultrasonic

Flashing LEDs left

Application Board PA8 PC6 PA7

STM32F4 Discovery Board + ChibiOS

RC- Receiver

Engineering the HW/SW interface

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SLIDE 9

Infrared

Flashing LEDs left Braking LEDs

Infrared LED Board

PandaBoard ES + Linux

Infrared Ultrasonic Ultrasonic Camera PC1 PC4 PC5

Wheel Encoder 1 Sensor A

USB I2C PWM UART ADC ICU

P_039, P_138, P_140 Steer Motor ESC Razor Board PD8 (TX) PD9 (RX) PC8 PC9 PB6 (SCL) PB9 (SDA)

Wheel Encoder 1 Sensor B

PB7 PB14

Wheel Encoder 2 Sensor A Wheel Encoder 2 Sensor B

PA1 PE5 Software/Hardware Interface Board Ultrasonic

Flashing LEDs left

Application Board PA8 PC6 PA7

STM32F4 Discovery Board + ChibiOS

RC- Receiver

Engineering the HW/SW interface

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SLIDE 10

Model Checking & Code Generation

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SLIDE 11

Model Checking & Code Generation

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SLIDE 12
  • HW/SW integration is a constraint-satisfaction problem
  • Engineering the HW/SW interface with MDE:

– Our embedded system: >14.5 million configuration possibilities – Automated verification of a given pin assignment configuration – Side effect: Finding a feasible/all possible/best pin assignment configuration for the interface board

  • Intuitive workflow:

– Description of facts – Description of desired setup – Let model transformation automagically do the rest!

http://www.christianberger.net/uproxy

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Conclusion