Real-time Unified Modeling Language Research Articles

A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

A Practical Specialization of MDA/MBSE Approach to Develop AUV Controllers

The model-driven architecture (MDA)/model-based systems engineering (MBSE) approach, in combination with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), unscented Kalman filter (UKF) algorithm, and hybrid automata, are specialized to conveniently analyze, design, and implement controllers of autonomous underwater vehicles (AUVs). The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/MBSE approach as follows. The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis. The platform-independent model (PIM) is then built by specializing the real-time UML/SysML’s features, such as the main control capsules and their dynamic evolutions, which reflect the structures and behaviors of controllers. The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers. The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape.

An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

The aerospace industry needs to be provided with system solutions to technologically challenging and mission-critical problems. Based on the industrial control point of view, development engineers must take costs and existing standards into account in order to effectively design, implement, and deploy control systems with reasonable costs. The customization and reusability are important factors associated with the production of new applications in order to reduce their costs, resources, and development time. In this work, the Model-Driven Architecture (MDA)/Model-Based Systems Engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), Unscented Kalman Filter (UKF) algorithm, and hybrid automata is specialized to obtain a hybrid control model in order to conveniently deploy controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAVs). This hybrid control model also provides a real-time capsule pattern, which allows the designed elements to be customizable and reusable in new applications of various multirotor UAVs of the Vertical Take-Off and Landing (VTOL) type. The Q-UAV dynamics and control architecture are combined with the MDA/MBSE specialization as follows: the Computation Independent Model (CIM) is defined by specifying the use-case model together with the UKF algorithm and hybrid automata to intensively gather the control requirements. The Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML’s features to obtain the main control capsules, ports, and protocols, together with their dynamic evolution. The detailed PIM is subsequently transformed into the PSM by open-source platforms to rapidly implement and deploy the Q-UAV controller. The paper ends with trial flights and deployment results that show good feasibility to be used for a trajectory-tracking controller of a low-cost Q-UAV. In this case study, the Q-UAV controller is implemented with the simulation model in the OpenModelica tool. The obtained simulation results then allow the main control elements and their properties to be defined, as well as building the implementation libraries in the Arduino environment based on C++ language to quickly perform the realization model in the ATMEGA32-U2 and STM32 Cortex-M4 microcontrollers.

A model-driven implementation to realize controllers for Autonomous Underwater Vehicles

The goal of this study is investigated an implementation model, which is based on the real-time Unified Modeling Language (UML)/MARTE combined with the specification of hybrid automata and the Extended Kalman Filter (EKF) algorithm in order to intensively capture the development lifecycle of control and reuse it for controllers of Autonomous Underwater Vehicles (AUVs). To achieve this goal, the study is stepwise carried out as follows: the physical and dynamic model together with control architecture of AUVs are firstly adapted for developing entirely an AUV controller. The use-case model combined with the realization hypotheses of hybrid automata and the EKF algorithm are then specialized to closely gather the requirement analysis of control. The specializations of real-time UML/MARTE’s features such as the ‘capsules, ports and protocols’ notation combined with the timing concurrency of evolution are next realized to precisely design structures and behaviors for the controller. The detailed design model is then converted into the implementation model by using object-oriented and open-source platforms in order to quickly simulate and realize this controller. Finally, a planar trajectory-tracking controller, which permits a miniature unmanned submarine to autonomously reaches and follows a planar reference trajectory, was deployed and tested with good reliability.

An object-unified approach to develop controllers for autonomous underwater vehicles

This paper presents a novel approach, which is based on the integration of hybrid automata, real-time Unified Modeling Language (UML)/System Modeling Language (SysML) and Model-Driven Architecture (MDA) in order to systematically develop controllers for Autonomous Underwater Vehicles (AUVs). This approach entirely covers the analysis, design, implementation and deployment phases focused on controllers for AUVs and also allows the designed control elements to be customizable and re-usable in the development of new applications of various AUV types. The paper brings out step-by-step the AUV dynamics together with the control structure, specializations of MDA's features such as the Computation Independent Model (CIM) with use-cases and hybrid automata, the Platform Independent Model (PIM) carried out by using the real-time UML, as well as its Platform Specific Model (PSM) implemented by sub-system paradigms and object-oriented mechanisms to completely perform the development lifecycle of AUV controllers. The transformation rules are then introduced and applied to convert the detailed design model of PIM into the implementation model of PSM by using open-source platforms in order to quickly simulate and realize AUV controllers. Based on this approach, a planar trajectory-tracking controller of a miniature autonomous submersible was completely developed and successfully taken on trial trip. In this application, the controller has been implemented with the simulation model in OpenModelica. The obtained simulation results then can permit us to mainly define the designed control elements and their properties, as well as building the implementation libraries for performing quickly the realization model in Arduino Mega2560 microcontroller.

A realization model to develop the autopilot system of ships by specializing MDA

This paper presents a method which is based on the Model-Driven Architecture (MDA) and functional blocks to realize effectively the autopilot systems of ships. It brings out an executable MDA process to cover completely the requirement analysis, design and deployment phases of these systems. This process also allows the determined design elements to be customizable and re-usable in the new applications of controlled ship steering systems. The paper indicates straightforwardly the ship dynamic model-to-be used, the Computation Independent Model (CIM) of a ship autopilot system, the Platform Independent Model (PIM) of this system by using the Real-Time Unified Modeling Language (UML), and its Platform Specific Model (PSM) implemented by the functional blocks. Furthermore, the important transformation rules are also brought out and applied to convert the identified PIM into PSM for implementing quickly this system with different industrial frameworks such as the IEC61499 in a programmable controller. Then, its deployment model completely is tested on a model ship with the predetermined program and control performance.

An object-oriented design method to implement the mechatronic system control by using hybrid automata and real-time UML

In this paper, we present a method, which is based on hybrid automata and Real-Time Unified Modeling Language (UML) to analyze and design the control parts of mechatronic systems with input or output events and signals in order to effectively gather their structure and behaviour. We introduce step-by-step analysis and design activities of a controlled mechatronic system such as the specification of its hybrid automaton and realization hypotheses, the identification of object collaborations of this system, the identification of main control capsules, their ports and communication protocols, with their static and dynamic links. These activities are conducted by specializing the iterative life cycle of system development. Then, we indicate important hypotheses, which allow all the identified capsules of this system to make their evolutions. We apply this method to develop an Electro-Hydraulic Governor (EHG) system, which allows the frequency of an electro-hydraulic station to be stabilized.

The Integrated Application Based on Real-time Extended UML and Improved Formal Method in Real-time Embedded Software Testing

In this paper, formal methods were introduced into the real-time embedded software testing field and a real-time extended finite state machine, called rt_EFSM, was studied firstly. And then, the process of the integrated application based on real-time extended Unified Modeling Language (UML) and improved formal method in real-time embedded software testing are put forward. Furthermore, the extension scheme of the real-time UML, including the improvement and extension of state transitions and time constraints described mechanism, and the conversion method from real-time UML to rt_EFSM ware proposed. Finally, combined with the testing process of flight control software of an unmanned aerial vehicle (UAV), a method to generate the time-extended UIO sequence (ex_UIO) was put forward. Finally, the method to generate test cases automatically according to ex_UIO sequence was brought forward. The method proposed in this paper can fully make use of the advantages of tool resources of the UML which has been as the industry standard, but also the advantages of formal methods in accuracy, effectiveness and automation support.