Peter Gorm Larsen

Robotic Design Choice Overview using Co-simulation and Design Space Exploration

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Rapid robotic system development has created a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present a collaborative modelling technique that combines discrete-event models of controller software with continuous-time models of physical robot components. The proposed co-modelling method utilises Vienna Development Method (VDM) and Matlab for discrete-event modelling and 20-sim for continuous-time modelling. The model-based development of a mobile robot mink feeding system is used to illustrate the collaborative modelling method. Simulations are used to evaluate the robot model output response in relation to operational demands. An example of a load carrying challenge in relation to the feeding robot is presented and a design space is defined with candidate solutions in both the mechanical and software domains. Simulation results are analysed using Design Space Exploration~(DSE) that evaluates candidate solutions in relation to preselected optimisation criteria. The result of the analysis provides developers with an overview of the impacts of each solution instance in the chosen design space. Based on this overview of solution impacts the developers can select viable candidates for deployment and testing with the actual robot.
Original languageEnglish
JournalRobotics
Volume4
Pages (from-to)398-421
Number of pages23
ISSN2218-6581
DOIs
StatePublished - 2015

Bibliographical note

This publication is part of the Horizon 2020 project: Integrated Tool chain for model-based design of CPSs (INTO-CPS), project/GA number 644047.

    Research areas

  • Animal feeding, Crescendo, Collaborative modelling, Sensor-fusion

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