[robotics-worldwide] ICAR 2009 Workshop: "Port-based techniques in robot engineering"

P.C.Breedveld at ewi.utwente.nl P.C.Breedveld at ewi.utwente.nl
Fri Jun 5 05:44:34 PDT 2009

Call for participation


ICAR 2009 Tutorial

June 23, 2009 - Munich, Germany



Port-based techniques in robot engineering


In this tutorial workshop we will introduce the port-based approach to
multidomain modeling

and design of engineering systems in terms of the bond graph notation.
Next we will show

that this approach allows for integration of discipline-specific parts
on the model level (during

design phases) instead of on the code level (during realization and test
phases). Cross-view

design-change influences get specific attention, to allow for relaxation
of the tension between

several dependability issues (like reliability and robustness), while
keeping design time (and

thus design costs) under control. This yields a shorter design time, and
a better quality


The design work is conducted as a stepwise refinement process, using
simulation (i.e. model

execution) as means of testing on all levels in the design process and
automatic generation of

embedded software. It consists of four major steps: (1) dynamic behavior
modeling of the

machine; (2) control law design; (3) embedded (control) software design;
(4) embedded

software realization.

This approach is extended to complex systems like robots by the
introduction of multiports

and their energy-based analysis techniques. The relation with the
kinematics and dynamics of

robot mechanisms is shown in terms of multibond graphs. It will be
briefly shown how the

port concept can be extended to multibody systems by defining the
concept of "screw-ports".

This will be done in an intuitive level by introducing concepts like
screws and duality.

The approach will be demonstrated by means of specific robotic

The design method is demonstrated by presenting the whole design
trajectory using a

demonstration setup, the "torsion bar", which we use in teaching. To
insure first-time right

deployment on-target of the control software, the software was tested
first in a virtual

prototype. Besides tests with simple test-benches, the dynamic systems
model of step 1 is reused

in a co-simulation experiment together with the software. The transition
from virtual

prototype to target implementation is done by replacing only the
co-simulation interfaces with

real-I/O. The resulting target implementation is first-time right.



9:00-10:00 Fundamentals of the port-based approach with an introduction
to the bond graph

notation (Peter Breedveld)

10:00-10:30 Coffee break with 20-sim demo's (Peter Breedveld)

10:30-11:30 Model-Driven Design Method for Embedded Control Software
(Jan Broenink)

11:30-12:30 Multiports, energy-based analysis and the relation to
kinematics in multibond

notation (Peter Breedveld)

12:30-14:00 lunch

14:00-15:00 Extensions to multibody systems (Stefano Stramigioli)

15:00-15:45 Embedded Software Design Demo using co-simulation and the
torsion bar, an

educational set-up

15:45-16:15 Demo of the torsion bar during coffee break (Jan Broenink)

16:15-17:15 Examples of robot applications (Stefano Stramigioli)

17:15-18:00 Discussion


Further information on the workshop can be found at:

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