Model-based Design Tools Research Articles

The Idea of an Integration Interface for Model-based Software Development's Processor-in-the-Loop (PiL) Simulation

Model-based design (MBD) has become a cornerstone in the development of embedded software, particularly in the automotive industry. Processor-in-the- Loop (PiL) simulation bridges the gap between virtual simulation environments and real hardware, enabling early verification and validation of control algorithms running on target processors. The design and implementation of toolchain is required for target specific code generation, compilation, and execution. Developing a toolchain specifically for the target architecture is crucial to preventing errors and ensuring smooth production. The configuration and designing of toolchain are one time effort of all Simulink model which want to be test on board. This research investigates the importance of PiL for embedded systems in the automobile area. It describes the construction of a toolchain that integrates PiL simulation with Simulink, a popular MBD tool. The paper discusses the unique integration of TRACE32, a debugger and code analysis tool, with Simulink for testing programmes on Infineon devices. TPT makes use of graphical test models that are easy to understand and have the capacity to automate complex closed loop tests in real time. It was Daimler Software Technology Research that initially developed TPT. Nowadays, vendors and automakers employ it in their development projects for production vehicles.

Real Time FPGA Implementation of an Efficient High Speed Harris Corner Detection Algorithm Based on High-Level Synthesis

Computer vision systems use corner detection to identify features in an image. In applications such as motion detection, tracking, picture registration, and object recognition, corner detection is often one of the initial steps. In this paper, a real-time image processing system based on Harris corner detection was designed and implemented using Zynq architecture and model-based design tools. The system was based on a development board containing the Zynq-7000 chip, which consists of a combination of FPGA and microprocessor, and the image taken with a high-resolution camera was processed in real-time by applying color conversion and Harris corner detection. The filter hardware designs used in the system were made using the HDL Coder tool in Matlab/Simulink without writing HDL code. The hardware that receives images from the camera was designed on a model-based basis with the Xilinx Vivado 2020. The HDL code that was implemented on the Xilinx ZedBoard using Vivado software was then validated to ensure real-time operation with the incoming video stream. The results achieved exhibited superiority compared to prior implementations in terms of area efficiency (reduced number of gates on the target FPGA) and speed performance on an identical target card. Using the rapid prototyping approach, two alternative hardware accelerator designs were created using various high-level synthesis tools. This design used less than 50% of the host FPGA's logic resources and was at least 30% faster than current implementations.

Equation-Directed Axiomatization of Lustre Semantics to Enable Optimized Code Validation

Model-based design tools like SCADE Suite and Simulink are often used to design safety-critical embedded software. Consequently, generating correct code from such models is crucial. We tackle this challenge on Lustre, a dataflow synchronous language that embodies the concepts that base such tools. Instead of proving correct a whole code generator, we turn an existing compiler into a certifying compiler from Lustre to C, following a translation validation approach. We propose a solution that generates both C code and an attached specification expressing a correctness result for the generated and optionally optimized code. The specification yields proof obligations that are discharged by external solvers through the Frama-C platform.

Building the Value Proposition of a Digital Innovation Hub Network to Support Ecosystem Sustainability

Digital Innovation Hubs (DIHs) play a key role in bolstering European companies to overwhelm innovation barriers and drive Europe as the world’s primary leader in the Industry 4.0 digital revolution; they are one-stop-shop ecosystems able to provide four main functionalities (test before investing, support to find investments, innovation ecosystems, and networking, skills and training). Even if a surge in their diffusion has been registered, their sustainability is still far from being well defined in a structured way. Several approaches and methods are available from literature to ground the sustainability plan of companies’ business. Among them, the first activity to be addressed is the value proposition (VP) analysis, and the most diffused approach is the Value Proposition Canvas (VPC); this paper proposes the application of the VPC (jointly used with other methods from the VP literature) to build the VP of the HUBCAP network (supporting European small and medium-sized enterprises in the adoption of model-based design methods and tools to support cyber-physical system technologies) per each of its four main customer segments (DIHs, academic partners and research and technology organizations, technology/tool providers and technology/tool users). Results highlight the need to characterize the analysis per each of these customers, open up new opportunities to build a structured business model of the network, and constitute a basis for assessing the potential synergies with similar DIH networks. The method proposed can be applied to any other DIH or network of DIH to define their specific VP, ground the strategy to reach their sustainability, and trigger collaborations with each of the four customer segments considered in the analysis.

Robot Programming Using Model Based Design Tools

Bu çalışmada endüstriyel alanda yaygın olarak kullanılan altı serbestlik derecesine sahip 6R manipülatörleri için model tabanlı bir tasarım yapılmış ve çıktı olarak bir simülasyon ve test ortamı elde edilmiştir. 6R manipülatörünün 3 boyutlu modeli, katı model ve simülasyon yazılımı kullanılarak tasarlanmış ve çizilmiştir. Elde edilen katı model MATLAB™'a aktarılmış ve SimMechanics™'e entegre edilmiştir. Elde edilen çıktı ile ileri ve ters kinematik hesaplamalar bilgisayar ortamında gerçekleştirilmiştir. Tasarımı gerçekleştirilen simülasyon ve tasarlanan görsel arayüzün işlevselliği, IRB120 6R manipülatörü kullanılarak doğrulanmıştır. Arayüz ile manipülatör arasındaki veri aktarımı, TCP / IP soket iletişimi ile yapılmıştır.

Assessment of model-based data exchange between architectural design and structural analysis

The emerging availability of numerous model-based design and analysis tools promises high interoperability in terms of data exchange, thus shorter planning cycles and higher design quality. However, seamless transfer of digital models across domains without significant data inconsistencies is still a major challenge in the practice. This paper aims to identify the procedural problems in the data transfer between architectural design and structural analysis and propose improvement.This study reviewed the current data exchange practices, and concluded that data exchange based on the industry foundation classes (IFC) is the most spread in the research and software tools supporting architecture, engineering and construction industry. The study also analyzed the processes which affect the IFC-based data exchange. The interoperability of software tools through IFC files was tested in a comparative study. The testing results are reflected on the processes influencing data exchange, identifying the procedural problems and recommending the improvements.Upon conducted analysis and testing, the authors propose the following strategies for the systematic improvement of the data exchange: (a) introducing interpretation rules in the data exchange standards; (b) focusing on multiple domain-specific building data schemas instead of on the integrated schema; and (c) developing a new certification process based on the domain-specific building data schema. The improvement proposal supported by the analysis provides a roadmap for the development of model-based exchange between architectural design and structural analysis.

CGMBE: a model-based tool for the design and implementation of real-time image processing applications on CPU–GPU platforms

Processing large images in real time requires effective image processing algorithms as well as efficient software design and implementation to take full advantage of all CPU cores and GPU resources on state of the art CPU/GPU platforms. Efficiently coordinating computations on both the host (CPU) and devices (GPUs), along with host–device data transfers is critical to achieving real-time performance. However, such coordination is challenging for system designers given the complexity of modern image processing applications and the targeted processing platforms. In this paper, we present a novel model-based design tool that automates and optimizes these critical design decisions for real-time image processing implementation. The proposed tool consists of a compile-time static analyzer and a run-time dynamic scheduler. The tool automates the process of scheduling dataflow tasks (actors) and coordinating CPU–GPU data transfers in an integrated manner. The approach uses an unfolded dataflow graph representation of the application along with thread-pool-based executors, which are optimized for efficient operation on the targeted CPU–GPU platform. This approach automates the most complicated aspects of the design and implementation process for image processing system designers, while maximizing the utilization of computational power, reducing the memory footprint for both the CPU and GPU, and facilitating experimentation for tuning performance-oriented designs.

Model-based hardware in the loop control of collaborative robots

Simulation and model-based design software packages are widely used in many engineering disciplines. When it comes to robotics those tools are very important for robot design, simulation and the development of control algorithms before the implementation on the real robot. Simulink by MathWorks® is an advanced model-based design tool. It is popular in education, industry and research. In addition, Simulink supports several hardware components, facilitating a rapid deployment of the developed programs on the target hardware. In this study, the SimulinkIIWA interface for controlling KUKA iiwa robots from Simulink is presented and compared to the KUKA Sunrise Toolbox (KST). This interface is based on the User Datagram Protocol (UDP) and allows graphical real-time control of iiwa robots from Simulink without a need for writing any code. The interface supports different robot control modes, at the joints level and at the end-effector (EEF) level. Example applications are also provided showing the flexibility and the ease of use of the proposed interface.

Design of a High-Efficiency, High Specific-Power Three-Level T-Type Power Electronics Building Block for Aircraft Electric-Propulsion Drives

The electric propulsion drives for the more-electric aircraft need lightweight and high-efficiency power converters. Moreover, a modular approach to the construction of the drive ensures reduced costs, reliability, and ease of maintenance. In this article, the design and fabrication procedure of a modular dc-ac three-level t-type single phase-leg power electronics building block (PEBB) rated for 100-kW, 1-kV dc-link is reported for the first time. A hybrid switch (HyS) consisting of a silicon insulatedgate bipolar junction transistor (IGBT) and silicon carbide metal-oxide-semiconductor field-effect transistor (MOSFET) was used as an active device to enable high switching frequencies at high power. The topology and semiconductor selection were based on a model-based design tool for achieving high conversion efficiency and lightweight. Due to the unavailability of commercial three-level t-type power modules, a printed circuit board (PCB) and off-the-shelf discrete semiconductor-based highpower switch was designed for the neutral-point clamping. Also, a nontrivial aluminum-based multilayer laminated bus bar was designed to facilitate the low-inductance interconnection of the selected active devices and the capacitor bank. The measured inductance indicated symmetry of both current commutation loops in the bus bar and value in the range of 28-29 nH. The specific power and volumetric power density of the block were estimated to be 27.7 kW/kg and 308.61 W/in <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> , respectively. The continuous operation of the block was demonstrated at 48 kVA. The efficiency of the block was measured to be 98.2%.

Application of model-based design tool X2C in induction machine vector control

Open source software tools for model-based design of embedded control systems represent a new method for rapid development and testing of advanced control structures in modern electric drives. The new concept of one of those tools, X2C, is presented in this paper, and in order to evaluate its performance in the development of complex control systems, it is applied to implement induction machine vector control. Based on the simulation model of the drive developed in PLECS, the parameters of the controllers were determined. The algorithm for the vector control of the induction machine was developed in X2C, implemented on the digital signal processor and applied to the real system. The system was tested during the no-load acceleration, deceleration, and reversing of the motor, while measuring the electrical and mechanical variables. Finally, the quantitative comparison of the experimental results and the results obtained by the equivalent simulations, based on the Integral Squared Error criterion, revealed that these results were well matched. This finding suggested that the control system was successfully implemented, thereby confirming the effectiveness of X2C tool in this particular type of application. With this work it has been shown that a transition from simulation to actual environment is rapidly achieved, with a simple verification of implemented methods accompanying the process. Realization of this work is a step forward in the utilization of open source software packages for implementation of induction machine vector control with the purpose of rapid verification of simulation models.

When is PID a good choice?

A new and freely available model-based PID design tool for Matlab is introduced. It can be used to solve Maximal Integral Gain Optimization (MIGO) and (load) Integral Absolute Error (IAE) problems. Robustness is ensured through H∞ constraints on the closed-loop transfer functions. A Youla parameter (Q design) method for comparison with the optimal linear time-invariant (LTI) controller for the considered IAE optimization problem is presented. Several realistic design examples are provided, in which the tool is used to compare achievable PID and optimal LTI controller performance, to illustrate whether PID is a good choice for a given combination of process dynamics and closed-loop robustness requirements.

A Layered Methodology for the Simulation of Extra-Functional Properties in Smart Systems

Smart systems represent a broad class of intelligent, miniaturized devices incorporating functionality like sensing, actuation, and control. In order to support these functions, they must include sophisticated and heterogeneous components, such as sensors and actuators, multiple power sources and storage devices, digital signal processing, and wireless connectivity. The high degree of heterogeneity typical of smart systems has a heavy impact on their design: the challenges are not in fact restricted to their functionality, but are also related to a number of extra-functional properties, including power consumption, temperature, and aging. Current simulation- or model-based design approaches do not target a smart system as a whole, but rather single domains (digital, analog, power devices, etc.) or properties. This paper tries to overcome this limitation by proposing a framework for the concurrent simulation of both functionality and such extra-functional properties. The latter are modeled as different information flows, managed by dedicated “virtual buses” and formalized through the adoption of IP-XACT. SystemC, through the support of physical and continuous time modeling provided by its analog and mixed signal extension, is used to implement both functional and extra-functional models. Experimental results show the efficiency, accuracy and modularity of the proposed approach on an example case study, in which substantial speedups with respect to standard model-based design tools go along with a very high degree of accuracy (<; 10 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">-5</sup> %). Furthermore, the case study highlights that the proposed framework allows to easily capture at run time the mutual impact of properties, e.g., in case of power and temperature.

In silico design of anaerobic growth-coupled product formation in Escherichia coli: experimental validation using a simple polyol, glycerol.

Integrated approaches using in silico model-based design and advanced genetic tools have enabled efficient production of fuels, chemicals and functional ingredients using microbial cell factories. In this study, using a recently developed genome-scale metabolic model for Escherichia coli iJO1366, a mutant strain has been designed in silico for the anaerobic growth-coupled production of a simple polyol, glycerol. Computational complexity was significantly reduced by systematically reducing the target reactions used for knockout simulations. One promising penta knockout E. coli mutant (E. coli ΔadhE ΔldhA ΔfrdC ΔtpiA ΔmgsA) was selected from simulation study and was constructed experimentally by sequentially deleting five genes. The penta mutant E. coli bearing the Saccharomyces cerevisiae glycerol production pathway was able to grow anaerobically and produce glycerol as the major metabolite with up to 90% of theoretical yield along with stoichiometric quantities of acetate and formate. Using the penta mutant E. coli strain we have demonstrated that the ATP formation from the acetate pathway was essential for growth under anaerobic conditions. The general workflow developed can be easily applied to anaerobic production of other platform chemicals using E. coli as the cell factory.

Model-based high-throughput design of ion exchange protein chromatography

This work describes the development of a model-based high-throughput design (MHD) tool for the operating space determination of a chromatographic cation-exchange protein purification process. Based on a previously developed thermodynamic mechanistic model, the MHD tool generates a large amount of system knowledge and thereby permits minimizing the required experimental workload. In particular, each new experiment is designed to generate information needed to help refine and improve the model. Unnecessary experiments that do not increase system knowledge are avoided. Instead of aspiring to a perfectly parameterized model, the goal of this design tool is to use early model parameter estimates to find interesting experimental spaces, and to refine the model parameter estimates with each new experiment until a satisfactory set of process parameters is found.The MHD tool is split into four sections: (1) prediction, high throughput experimentation using experiments in (2) diluted conditions and (3) robotic automated liquid handling workstations (robotic workstation), and (4) operating space determination and validation. (1) Protein and resin information, in conjunction with the thermodynamic model, is used to predict protein resin capacity. (2) The predicted model parameters are refined based on gradient experiments in diluted conditions. (3) Experiments on the robotic workstation are used to further refine the model parameters. (4) The refined model is used to determine operating parameter space that allows for satisfactory purification of the protein of interest on the HPLC scale. Each section of the MHD tool is used to define the adequate experimental procedures for the next section, thus avoiding any unnecessary experimental work.We used the MHD tool to design a polishing step for two proteins, a monoclonal antibody and a fusion protein, on two chromatographic resins, in order to demonstrate it has the ability to strongly accelerate the early phases of process development.

Real Time Hardware Co - Simulation for Image Processing Algorithms Using Xilinx System Generator

The implementation of digital image processing required detailed knowledge of both hardware design and hardware description languages. This paper presents an efficient approach for the implementation of real time hardware digital image processing algorithms without requiring detailed knowledge of hardware design and hardware description languages. The purpose of this work is to achieve a real time hardware implementation with higher performance in both size and speed. It focuses on the implementation of an efficient architecture for image processing algorithms like segmentation (threshold) and contrast stretching by using the fewest possible system generator blocks for DSP tool, which integrates itself with the MATLAB based Simulink graphics environment and relieves the user of the textual HDL programming. While Past research has shown that the Image enhancement techniques on FPGA based on the Xilinx System Generator. This study connect between image histogram and Image enhancement techniques depending on the type of enhancement required. This paper describes also the methodology for implementing real-time DSP applications on FPGA and concept of hardware software co-simulation for digital image processing by using the Mathworks model-based design tool Simulink / Xilinx System Generator (XSG). Performances of efficient architectures are implemented on FPGA Virtex5 (XUPV5-LX110T).

Introducing Model-based Design Methodology with LabVIEW to Teaching ARM-based Embedded System Design

This paper presents our latest experience of introducing the new topic of model-based design (MBD) concepts and tools to a Programming Tools (PT) course for educating students to be capable of utilizing modern tools for correctly developing complicated ARM-based embedded systems. It describes the course contents, student outcomes and lecture and lab preparation for teaching this topic with the emphasis on two sub-topics. Firstly, we present the details of using NI LabVIEW tool in programming ARM Cortex-M MCUs or ARM Cortex-A9 MCUs on the embedded device like NI myRIO for fast developing embedded applications. Secondly, to integrate an on-going research effort on the model-based verification into this course, we also introduce model-checking and the tools that have been utilized in the research project. This new topic helps introducing students the latest research advances which promote the wide applications of the MBD in safety-critical embedded applications. Our primary experience shows that the project-based learning approach with the graphical programming tools and selected MCUs is efficient and practical to teach the MBD of 32-bit MCUs programming.

A co-simulation framework for design of time-triggered automotive cyber physical systems

Designing cyber-physical systems (CPS) is challenging due to the tight interactions between software, network/platform, and physical components. Automotive control system is a typical CPS example and often designed based on a time-triggered paradigm. In this paper, a co-simulation framework that considers interacting CPS components for assisting time-triggered automotive CPS design is proposed. Virtual prototyping of automotive vehicles is the core of this framework, which uses SystemC to model the cyber components and integrates CarSim to model the vehicle dynamics. A network/platform model in SystemC forms the backbone of the virtual prototyping. The network/platform model consists of processing elements abstracted by real-time operating systems, communication systems, sensors, and actuators. The framework is also integrated with a model-based design tool to enable rapid prototyping. The framework is validated by comparing simulation results with the results from a hardware-in-the-loop automotive simulator. The framework is also used for design space exploration (DSE).

Systematic Comparison of Functional Models in SysML for Design Library Evaluation

The development of increasingly complex mechatronic, or more generally multi-disciplinary systems, is a challenge. It requires, among other things, efficient and computationally supported model-based conceptual design tools. One solution- and domain-independent approach developed to support this is a formal, functional modeling library in SysML, derived from the functional basis, that provides defined syntax and semantics. This paper presents a comparison of this approach with a more conventional SysML modeling approach to both evaluate the function model library and determine whether the two approaches should be integrated. In this comparison, current functional model benchmarks for representations and models are used to compare the approaches using a model of a hydrokeratome, which is a system to perform refractive eye surgery using a water jet. In general, the comparison shows that each approach has its strengths and weaknesses with respect to representation capabilities for particular applications, which leads to the conclusion that in the future the two approaches may complement one another well. Identified advantages of the function model library are that it is straight forward to use, generally applicably, as shown through the new application presented here, and enables potential for additional computer-based support, e.g. through semi-automated synthesis and model consistency checking.

Functional Analysis and Mechatronic Design of a Cam Controlled Mechanism

The paper discusses a part of an industrial project which can be solved by mechatronic design method. In general, it follows VDI Guidelines 2206 and 2143, applying a model-based design tool. The objective of the project was to design and construct of a new state of the art pinion-engaging mechanism for starter motors. The pinion-engaging mechanism is a cam follower mechanism which contains the following parts: dc servo motor, rotational to translational transducer and the drive pinion. The rotational to translational transducer can be realized by designing a cylindrical roller follower mechanism. The goal of this paper is to present a mechanism design process and a test bench of the achieved construction. Some aspects of the kinematic relationships of the motion control, including electromechanical modeling are considered.

Functional design and experimental analysis of a new pinion-engaging mechanism for starter motors

This paper discusses a part of an industrial project which can be solved by mechatronic design method. In general, it follows VDI Guidelines 2206 and applying a model-based design tool, focusing conceptual design stage. The objective of the project was to design and construct a new pinion engaging mechanism for starter motor.