Abstract
The core of this paper reports on development ofa multithreaded,
multiprocessor program for an embedded system.It covers all phases
of the development fromrequirements through successively refined
designs with formal verification to implementation. The program
controls an experimentalhydraulically powered manipulator with two
links. The architecture uses local control for each of the links,
and has a mode switched control algorithm which detects and
reactson changes in model parameters due to variations in the
forcesacting on the link. The result shows that it is feasible to
check a design against realistic top level requirements with
specific assumptions about th control and mode detection
algorithms. The design is detailed to an architecture that isolate
these and other algorithms suppliedby control engineers, thus
providing a precise interface descriptionwith a potential for
reuse. Specifications of requirements and designs are expressed in
duration calculus,a real-time interval logic, which is also used
in verification. Theimplementation is done in occam for a network
of four transputer's.Low level timing constraints are checked
manually by calculating path lengths.
| Original language | English |
|---|---|
| Title of host publication | Embedded Systems |
| Place of Publication | Berlin |
| Publisher | Springer |
| Publication date | 1998 |
| Pages | 316-352 |
| Publication status | Published - 1998 |