Final Assignment of Research Planning - · PDF fileFinal Assignment of Research Planning ... methodology coming together with new tools that provide ... long from being solved for

ARTES Graduate Course: Research Planning

Model Based Development and Competence Integration within

Mechatronic Development

Final Assignment of Research Planning

-Given by Hans Hansson

Jianlin Shi

Department of Machine Design

Royal Institute of Technology, Sweden


1

Contents

1. INTRODUCTION 2

2. INDUSTRIAL PROBLEMS 3

3. PURPOSE AND HYPOTHESIS 4

3.1 Purpose and Aim 4

3.2 Expected Contributions 5

3.3 Hypothesis 5

4. MODEL-BASED DEVELOPMENT 7

4.1 Definition of MBD 7

4.2 Drivers for MBD 7

4.3 Pitfalls of MBD 8

4.4 MBD in Practice: 9

4.5 Hot Topics 10

5. STATE OF THE ART 11

5.1 Related research projects in KTH and partners 11

5.2 Other Related Research: 11

5.3 Research Groups 12

5.4 Modelling Tools 13

5.5 Related Conferences: 14

6. METHOD AND TIME-PLAN 15

7. ACTIVITIES 17

7.1 Co-operation and Communication 17

7.2 Outline of Thesis Work 17

7.3 Specified Milestones: 18

8. REFERENCE: 19


2

1. Introduction

The vehicle industry is experiencing a tendency that more and more functionalities are highly dependent on software and electrical components apart from traditional pure mechanical components. This product, resulting from not rather isolated development of engineering specialities such as mechanics, electronics, sensors, actuator and control engineering, is known as one typical product of mechatronics that could be characterized by the synergetic integration of different engineering disciplines. On one hand, the interaction between disciplines bring new opportunities for machinery, on the other hand, it requires a mature engineering method for modeling and analysing in an integrating way for the entire system and subsystems. In general, mechatronic product has following characters:

o Integration of multidisciplinary

o Variety of types of functionality

o Distributed systems

o Tight coupling with environment

o Real-time constraints

o Resource constrained

o Dependability requirements relating to reliability and availability

This product inherently brings a crucial need for efficient integration of multidisciplinary as well as high degree of competence integration as the complexity highly increased. Simultaneously, new development processes and organisational structures are required to be established correspondingly to form a cost-efficient development.

Facing this increasing challenge, model based development (MBD) is introduced as a trend in development of mechatronic products. MBD is not a new concept within the engineering field. Computer aided design and manufacturing (CAD/CAM) has already been widely used in industry. However, the guiding principle of MBD was limited to specified domain or subsystems and MBD of crossed domain systems such as mechatronic product is less common.


3

2. Industrial Problems

As described previously, mechatronic products are characterized as the dominative part of functions which are realized by programs in embedded control systems. The capacity and performance are dependent not only on the control system but also highly on the mechanical subsystem and how well these subsystems are integrated physically and functionally. The complexity within the development of mechatronic systems can be multifaceted and bring industry following problems:

• Technology problems

As mechatronic systems consist of multi technology, different technical disciplines and competence as well as ccomprehensive system functions with numerous cooperating subsystems numerous components and subsystems, it requires new methodology coming together with new tools that provide sufficient support cross over disciplines.

• Organizational problems

In the transition from pure mechanics and electronic to an high integration of several different engineering domains, high desires are required for supporting from the organization with respect to collaboration and integration, especially for a large development organisation with numerous individuals and delivers. In line with this, the complexity of mechatronic function makes its ownership and responsibility unclear. In mechatronic industries these problems are due to those factors such as lack of upper management support, upper management is weaker than middle management and lack of infrastructures.

• New products requirements

From the view of functional requirement, it requires high dependability, reliability and function safety. Implementation must be done with low-cost and work predictable in real time. From the non-functional requirements perspective, for instance, with respect to environmental requirements, it must be noted that these requirements, emission requirement, for example, are completely necessary to take care within the development of mechatronic products such as cars, trucks and motors.

At the same time, these complexities will decide products competitiveness in high degree of flexibility in term of rapid adjustment to customs and new markets. In order to manage product development, rapid products renewal, product variants and preparation of complex mechatronic products, it requires industry-rooted research to develop knowledge, supporting method and tools. This project is focused on improving products development in car industry, while existing problems are almost same for all types of road vehicles, contractor machine, and trail vehicles.

Today we can efficiently manage models, product data, simulation, and visualization for pure mechanical products in which MBD has reached a high level maturity, which is proved by the wide use of CAD (Computer Aided Design). Therefore the need has been long from being solved for mechanical system products. But it is more important to


4

support the necessary competence integration (multidiscipline development) for efficient and functional product development. Currently it forces companies to use a number of non-compatible models, methods and tools without coordination, which makes the development and system integration complicated and inefficient. This leads to time-consuming, low reusability, and high cost testing and verifying. A system production typically aims at involving the entire development organizations in the company, including mechanical, electronic, control system, and programming groups and more under level deliveries. One existing central problem is the difficulty to communicate between these disciplines, which often coincides with the organizational barriers. This results in that it is very difficult to understand the technical problems situation in another discipline than itself. Also it makes the dependence between different subsystems and technologies in production unclear, difficult to describe and often incompletely specified. Often this type of scarcity and faults appears very late in the developing process and thus will be very expensive and complicated to take care of.

The products which mostly remain mechanical components are distinguished by that one function is realized by a subsystem together with one subsystem and functions which have good connections between each other. On the other hand, mechanical products are distinguished by higher degree connections between functions and subsystems. This is due to that distributed computer systems for information transference and program software convey totally new possibility to realize new functionalities or improve existed functions which are coordinated with existing subsystem, for instance, motor, brake and transmission. Therefore more functions can use the same subsystem, which not only gives new possibilities but also increases complexities in developing, verifying and maintenance.

All in all, embedded programs in mechanical products involve a revolution and a challenge for the manufacture industry. Now both mechanical and electronic hardware shall be developed and integrated apart from integration of mechanical parts. The problem to manage integration of disciplines (technologies and competences) is a general characteristic and is essential to all development processes. Integration is thus the key word in the industrial problem status and includes integration of the technical competence field; modules, which integrated to system; system builders who do integrating with suppliers; integration of technologies (functionally and physically); and tools integration.

3. Purpose and Hypothesis

3.1 Purpose and Aim

This project is aimed to improve management of the complexity within the development of mechatronic system products by use of MBD. It is highly relevant to vehicle industry and other manufacture industries which use mechatronic technology. It is also devoted to develop knowledge, support methods and prototype tools for efficient development of complex mechatronic system.


5

The project can be attacked from two different but necessary and supplementary approaches:

• How to manage technology integration within mechatronic development?

• How to manage the competence integration over disciplines boundaries within mechatronic development?

Therefore, the project is characterised by a combined research effort addressing both technical factors and individual- and organizational factors. Correspondingly, the project is carried out by collaborations between the Mechatronics lab and Integrated Product Development, providing expertise in these areas respectively. Among the goals mentioned later, some will be part of joint work whereas others focus on either technology or organization.

A long-term purpose of the project is that Swedish companies that develop complex composite products shall be improved substantially. This expectation leads to higher growth in the manufacture industry and gives space for new business aspect to IT-support and consults service.

3.2 Expected Contributions

Expected concrete contributions for the project in terms of delivered and documented results are:

• Inquiry, documentation and analysis of the current industrial situation including identifying of possibilities and obstacles by development of one or more complicated system comprehensive functions/ products at VCC.

• Requirement specification in respects of development methodology, development organization and tools support based on above analysis.

• Development of model framework (abstraction, view, relations) for multi-domain requirement.

• Prototype tools and description of how these are related to existed commercial tools. The Prototype tools are based on the developed modelling framework.

All these aims and expected results will be general and applicable in a large part of the Swedish manufacturing industry where mechatronic technology is broadly used.

3.3 Hypothesis

Complexity management and model integration are the central concepts in this project. The mechatronic product cross several different disciplines and thus requires high integration of technologies and competences. This, when combined with requirements on shorter development time and more cost efficient development, assumes that elements of modeling and analysis are based on model instead of prototype building. Hypothesis for the project are:

Model-based development, where models are compatible over domain boundaries and provides possibilities for integrated system analysis, is an essential approach


6

for efficient development of mechatronic products. It is also the prerequisite for the necessary competence integration, and therefore makes better use of developments resources.


7

4. Model-based Development

4.1 Definition of MBD

MBD is not a new concept since it has been successfully used over past years, however the guiding principle of MBD has been changed to handling multi-disciplinary complexity. Törngren et al. [2003] defined model-based development as:

“systematic use of modelling throughout the life cycle to support product development and maintenance”.

To be really useful for multidisciplinary development, MBD has to provide models and tools that support integration, for example for co-simulation and integrated system analysis. The model based approach also produces the prerequisite for necessary competence integration, which plays the key role in making better use of developments’ resources.

The following are central aspects for model based development:

• Meta-Model (or modeling framework) – necessary for efficient model integration

• Modeling language(s) – supporting engineering disciplines in modelling and analysis

• Design methodology – in this context referring to methods and tools supporting efficient integration and for handling complexity

• Usability support – tailored to engineering needs Recently, model-based development is also often referred to as Model Driven Engineering (MDE). The Object Management Group has promoted a new model based approach “Model-Driven Architecture” (MDA), which adopt number of technologies such as UML, MOF, specific models, and UML profiles to provide high portability, interoperability and reusability through architectural separation of concerns [OMG, 2001].

4.2 Drivers for MBD

In the development of mechatronic product, the huge difference between different engineering domains needed to collaborate unavoidably brings large heterogeneity of rationale. Also numerous of components with different properties and relations increase the richness of system content and thus further the system complexity, which has always been a challenging task for system developers. Another factor that brings more complexity is conflicting requirements from different aspects, for example, performance and cost.

Other drivers for using MBD come from product strategies in terms of maturity of product and standardization [Hansen, 1999]. According to Larses and Adamsson [2004],


8

main drivers for using MBD could be concluded as: maturity, standardization and complexity of the product.

4.3 Pitfalls of MBD

Although MBD is an essential and efficient approach for mechatronic systems, its maturity is still in a low level comparing to the development in mechanical engineering modeling and there is a lack of modeling tools that could give good support for integration. To sum up, there are two main obstacles of model based development:

1. Tools are not always mature.

2. Required processes are not fully developed.

These obstacles result in the mismatch between drivers, processes and technology supports of MBD [Törngren and Larses, 2004]:

• Process maturity vs. technology maturity: The level of tool support influences the reliability and quality of the modeling efforts. A strong tool technology together with weak process could result over detailed modeling and non-understanding the need for co-design coming along with code generation.

• Process maturity vs. driver induced need. The level of process maturity has strong influences on the cost-efficiency of the development process. Low mature process maturity may result in costly inefficient tools. Insufficient analysis may result poor models and distrustful code which is inefficient with low reliability. On the other hand, higher process mature level than drivers dictate may bring a risk that models are used for the sake of technology rather than engineering. When weak process comes along with high driver dictate, much development efforts are made for solutions that could be achieved by reusing a certain parts of model based method in a mature process.

• Tool support vs. driver dictate: Lack of mature tool support also produces costly and inefficient tools.

As a result of these mismatches, there are several arguments against MBD which are described as follows:

1. A model is an abstraction of reality, it can never capture reality so why model and bother?

2. Tools are costly

3. Code generation some times cannot be trusted from the view of efficient, reliability and ECS constraints.

4. Use of poor models do not resemble reality/are not adequate for the given purpose, are difficult to understand, not amenable to analysis and synthesis.

5. Over trust in models and tools: The analysis can only be as good as the model. The garbage in/garbage out syndrome.


9

6. The modelling may swamp and result in too detailed models from abstraction to quarks.

7. There are misconceptions about MBD that regards MBD as just about synthesizing code

4.4 MBD in Practice:

As discussed previously, the maturity level of model based development must be synthetically considered with three aspects: product, process and organization. These three factors can be separately evaluated. And their maturity level should match each other to form harmonious development. To assess the maturity models, Bate et al. [1995] introduced a system engineering capability maturity model (SE CMM), which including five levels of maturity from informal level, to planned and tracked level, well defined level, quantitatively controlled level and finally the continuously level as shown in figure 1 [Bate et al.1995]. Based on this theory, Törngren and Larses evaluated the situation of MBD in automotive industry for different fields.

Their results illustrated that the mechanical engineering field is very mature and well established, where CAD tools is a good representation. While in the control engineering field where Matlab/Simulink is dominating tool, the MBD process is a little bit less mature than drivers and support in an acceptable level. The situation for software engineering is worse. Although the drivers maturity is in the same level as in control engineering which is on level 3, both the process and support maturity are in level 2 which indicates a mismatch. With respect to the integration, the situation is illustrated in the following figure 2:

4 Quantitatively controlled level

1 Initial level

2 Planned and tracked level

3 Well defined level

5 Continuously level

Figure 1. System Engineering Capability Maturity Model


10

Figure 2 the situation for integration in automotive industry [Törngren and Larses, 2004]

It clearly presents the lack of MBD process and support tools which requires many efforts in coming research and application.

4.5 Hot Topics

As we discussed previous, the key conception in MBD of mechatronics is complexity and integration. Therefore, there are two hot topics in this field as listed below:

• Model integration

There are mainly three approaches in the model integration research field: Co-simulation, Model import/export between different tools, and code integration using code generation.

• Information management

In this area, SCM, PDM and their integration are becoming to the main direction.

Maturity

5

4

3

2

1

0

Drivers MBD Process MBD Support


11

5. State of The Art

The research on mechatronic systems has traditionally focused on functionality, performance, and dependability. Since the system increasingly more complex and widely used, complexity and flexibility becomes critical as well.

5.1 Related research projects in KTH and partners

KTH Mechatronic has already operated 10 years research in model based development [RTP, 2003], in which including requirement on models [Töngren and Redell, 2000], model framework [Chen and Törngren, 2001], and development of tools prototypes and methodology [El Khoury and Törgren, 2001]. KTH Mechatronic also participated in the vehicle project East-EAA (Eureka) which aimed to develop description language for development of embedded system in vehicles. These researches are principally divided into model-based development of mechatronic systems and work methods in such development.

• Codex: To develop a dependable and cost-effective x-by-wire system architecture for safety critical applications in heavy trucks. Focused on Architectural design, keyfigures, design parameters, information management, models and tools. (Ola Larses, Martin Törngren)

• Save: Model and component based development of automotive safety critical software specially a generic multiview system supporting dynamic integration. In cooperation with MDH, LiTH and UU (Hans Hansson).

• AiDA2: Towards a modelling framework and methods for analysis of real-time behaviour in order to support the development of distributed, heterogeneous control systems. (Redell Ola, El-Khoury Jad and Martin Törngren)

• March: To develop a system architecture/framework suitable for embedded distributed computer control systems (Di-Jiu Chen, Martin Törngren)

5.2 Other Related Research:

Because mechatronic products are distinguished by an increasing degree of connection between functions and components and also between components/subsystems in a product, there are huge requirements on harmony between products structure and developments organisational structure. In 2001, Eppinger and Salminen proposed an idea that three domains product, process, and organisation must be considered simultaneously when studying complex product development. This connection between domains brings increased possibilities with co-construction, necessities of new competences, and potential problems within system integration. These problems have been identified, but not been analysed in detail for mechatronic products [Epping Eppinger et al. 2001, Yan och Sharpe 1994, Gausemeier et al. 2001, Wikander et al. 2001].


12

Today, Model based development is regarded as a possible solution to theses problems with high-cost test and verify, requirement on rapid development and necessity of product renewal. The research in this field has often been restricted from perspectives related to one or one pair of disciplines. A summary over the research around model based development within embedded control system gives a roadmap which is taken out of EU-network Artist [Artist 2003]. There are similar research efforts in USA, for example, DARPA-project MoBIES 2003. However, many of these projects are restricted to those aspects which have already been considered (for instance. Stress on time correctness in MoBIES).

Fundamental researches among modelling of complex embedded control system and methodology for this purpose are scant. An interesting work has been done by Leveson [2000], Rechtin and Maier [1997]. Performed efforts are also around standardising and model format for transference of information between tools. Recently some efforts has been putted on development of software, see Sedres [2003] and STEP-based standard as AP233 [2003].

To avoid sub-optimization within mechatronic development, the development of different subsystems (corresponding different disciplines) must be taken place simultaneously and integrated. In order to do this, it requires new tools for modelling and simulating, see van Amerongen et at [2000] and Sinha et al [2002]. In the process of modeling and simulation parameter space will be very large, therefore methodology and tools for integrated synthesis are also necessary (Gausemeier et al [2000], Rothfuss, R.et al. [2002]).

Researches which relate to those questions addressing work methods (processes, organizations form) have mainly showed as technical experience. That is to say, there are many research projects which focus on technical support for cooperation between separated groups [See Coates m fl 2003 or Taminé and Dillman 2003]. Even research in “knowledge Management” has focused technique with limited impact, one too limited sight on knowledge concept. Other relevant researches handle rather than cooperation and efficient work form, and therefore can help in theory to support analysis for developing outlines. Some other efforts also indicated the necessity of integration between internal operators in a certain company. There is strong relation between crossway function cooperation and a successful product development, as confirmed by Griffin [1997], Kahn [2001], and Olson et al [2001]. Actual limitations in many of studied sources are their context, for example, cooperate construction/production/market was touched but seldom cooperated among different disciplines.

5.3 Research Groups

Some research groups in modeling and simulations are briefly listed as below [Peter

Fritzson and Simin Nadjm-Tehrani]:

1. Prof. Anders Rantzer, LTH. Object-oriented libraries and tools. Note: Dynasim is a spin-off from LTH. The development of the Modelica language has been lead from Sweden (http://www.modelica.org/).


13

2. Prof. Peter Fritzson, LiTH-IDA. Object-oriented tools and languages for modeling and simulation

3. Dr. Steve Vestal, Honeywell Labs. Developer of MetaH and the AADL (architecture analysis description language).

4. Prof. Edward Lee (the Ptolemy project) and Alberto Sangiovanni Vincentelli (the Metropolis project), Berkeley University, US.

The Ptolemy project studies modeling, simulation, and design of concurrent, real-time, embedded systems. The focus is on assembly of concurrent components. The key underlying principle in the project is the use of well-defined models of computation that govern the interaction between components. (http://ptolemy.eecs.berkeley.edu/)

Metropolis consists of an infrastructure, a tool set, and design methodologies for various application domains. The infrastructure provides a mechanism such that heterogeneous components of a system can be represented uniformly and tools for formal methods can be applied naturally. (http://chess.eecs.berkeley.edu/)

5. Prof. Dr.-Ing. Gerd Hirzinger, Institute of Robotics and Mechatronics,

This group does Multi-disciplinary modelling and simulation at the DLR in Oberpfaffenhofen contains information on object-oriented multi-domain modeling with a focus on mechatronics using object-oriented system aggregation modelling based on Modelica/Dymola which unifies energy-flow physical modelling with control-logic signal flow modelling. (http://www.robotic.dlr.de/)

Some relevant companies are listed as following:

1. Dynasim AB. Dr. Hilding Elmqvist and Doc. Sven-Erik Mattsson. OO Modeling and simulation tools: Dymola, Modelica

2. Equa AB. Dr. Per Sahlin. OO Modeling and simulation tools: NMF, Modelica.

3. MathCore AB. Dr. Johan Gunnarsson, Dr. Mats Jirstrand. OO Modeling and simulation tools: MathModelica, Modelica.

5.4 Modelling Tools

A large number of efforts have been made to improve MBD of automotive products, intending to raise the level of abstraction at which systems are specified and designed, and to provide tools that assist in transferring such designs to operating systems.

A good example is the language and tools developed by Ptolemy Project at Berkely [E.A LEE]. By managing and integrating a variety of models-of-computations, it provides semantics for components and interactions thus realises supporting for model-based analysis and simulation. Over the years, the progress for MBD has experienced a change from assembly languages to high-level programming languages and more recently graphical system representation such as Matlab/Simulink and Unified Modeling Language (UML), which are two approaches widely used in MBD. As well, the object oriented concepts of UML are covered by other approaches. Given that UML has got a new version (UML 2.0) as well as new tools, supports much richer set of concurrency and communication schemes by which it is going to bring a new progress.


14

Some of other modelling approaches have been discussed from different views mainly differ in the type of approaches being targeted, the coverage and levels of details and the comparison framework. These approaches and involved modelling tools are briefly listed in following: ACME, Lustre, MetaH, Rapid, SDL, Unicon, VCC, Metropolis and Chess [Chen DeJiu, 2004, Elkhoury Jad and M. Törngren, 2001, L. Petersson, 2002. P.C. Clements, 1996, R. Wieringa, 1998, N. Medvidovic, and R.N Taylor, 2000].

5.5 Related Conferences:

There are several related conferences. Some that currently address model based development and model integration include:

i. IEEE Real-Time and Embedded Technology and Applications Symposium The scope of RTAS consists of the core area of real-time infrastructure and development and three areas of special interest: Embedded Applications, Model-driven Real-time and Embedded Systems, and QoS in Open Systems.

http://www.cis.upenn.edu/rtas05

ii. Euromicro2005; one MBD session to be announced http://www.diit.unict.it/ecrts2004/

The sixteenth Euromicro Conference on Real-Time Systems (ECRTS 04) is aimed at covering state-of-the-art research and development in real-time computing. Papers include following aspects of Rea-Time System:

Foundations: theories and models of real-time computing and systems. Applications and Tools: embedded real-time systems; real-time control applications;

real-time aspects in ubiquitous computing; distributed real-time information systems/databases; video/audio streaming with real-time constraints; in-home entertainment networks; frameworks and tools for development and analysis.

Software: software architectures and languages; operating systems; design, scheduling, timing and execution-time analysis; validation; monitoring.

Hardware: architectures; real-time devices and (co)processors; power-aware RT-computing.

Distributed Systems and Networks: communication protocols; interfaces and composability; wireless and ad-hoc networking, real-time mobile computing

iii. Incose conference on systems engineering The International Council on Systems Engineering (INCOSE) is an international professional society for systems engineers. Its mission is to foster the definition, understanding, and practice of systems engineering.

http://www.incose.org.

iv. Emsoft.

Emsoft is an international conference for research in all aspects of embedded systems software. Interesting topics in EMSOFT 2005 includes:


15

• System design examples in all domains. • Model-based software architecture and design. • Software for embedded multiprocessors. • Networked embedded systems. • Ad-hoc networks of embedded computers. • Embedded system security. • Models of computation and formal methods. • System design and integration methodologies. • Programming languages and software engineering. • Compilers for embedded software and processors. • Operating systems and scheduling. • Middleware for embedded systems. • Hardware/software interfaces and system-level design. • Hardware-dependent software and system-on-chip support.

http://www.emsoft.org/

v. Model integrated computing – OMG workshop The Object Management Group (OMG) is an open membership consortium that produces and maintains computer industry specifications for interoperable enterprise applications. From time to time, it gives some exciting workshop on MDA based on the MOF, UML, and CWM etc.

http://www.omg.org

Some other related networks and organizations are also listed with their links in following: SNART, ARTES, ARTIST, and IFAC.

http://www.snart.org

http://www.artes.uu.se

http://www.artist-embedded.org

http://www.ifac-control.org/start.htm

6. Method and Time-plan

To take the step of integrated products, embedded control system and programs are necessary, but theories, methods, and tools are still weak and lacking. The knowledge, especially with respect to complex composite products is partly existed but further research efforts are demanded. The Research approach that includes five steps (DP 1-5) is shown as following:

Step 1. Case studies that present development of one or finally more complicated system consisted of comprehensive functions/products at VCC, especially with efforts on models, model usage, use of competence, tools usage. The study will be completed with existed


16

knowledge to decide what requirements should be put on the modelling framework, development methodology, development organization and tools support.

Step 2. Development of a modelling framework which comprise the most important subsystem and characteristics according to earlier experience (Chen and Törngren, 2001) and based on the case study mentioned in step one. The modeling framework shall describe how subsystem, components and property can be structured in a numbers view (sub-model) which is directly connected to different design and analysis purpose, for example, optimization of function allocation and design of computer architecture with respect to physical properties, performance, security and cost. The framework should also describe how these sub-models related to and affects each other, and also could well define fundamental concepts and terminologies. Thus the modeling frameworks constitute the foundation to be able to formalize a description of mechatronic system and specify what models should be contained for possible analysis (for example, simulating) and synthesizer (algorithm development) over domains. Industrial case study will be performed to refine existed modeling frameworks. The relation to present research and standardisation activities will be examined (for example: with respect to AP233, EastADL, AADL). Then an updated framework will be developed and evaluated in new coming case studies.

Step 3. Methodology development for mechatronic systems. This methodology is required to facilitate the project planning, decision making, assessment of competence requirement and information transference, to system integration planning, and also to support default searching. Existed experiences around methodology for development of mechatronic products and knowledge about research front in this area will be used to refine a methodology for development of mechatronic products. Proposed methodology will be tested and evaluated in concrete case study.

Step 4. Implementation of one case study of organization form and development processes respecting with development of system or subsystems within VCC. The case study will include observation of in disciplines and cross-discipline work groups, and interview. The case study could be complemented with questionnaire over more companies which have similar complex problems. The study comes to describe the current position and proposes a work method (organizational) which gives effective improvement by competence integration.

Step 5. One case study at VCC over the restricted subsystems from which two above components applied. In the case study, we will make use of existed tool prototypes (EL Khoury and Törngren, 2001) which will be further developed in this project and collaborated with another research project. Then results are going to be analysed and conclusions will be drawn.

Both DP 1 and DP 2 contain development of tool prototypes from the developed tool prototypes in the research group. Computer based tool support is an assumption for a model based method and also requires management of model data and new type of products data. In general how the new attacked method is going to affect the coming PDM system that is surveyed and documented in the project. This will go in the cooperation with IVF as described later. The planed time plan for these five steps (DP1~ DP5) is illustrated as following figure 3:


17

Figure 3. Project time-plan

7. Activities

7.1 Co-operation and Communication

The project has a close connection with several related projects at KTH including Codex and SAVE (mentioned in section 5.1). Industrial cooperation is also apart from Volvo established with Scania.

Because the project contains a case study of product development and empirical research on development process, it is expected that development methodology, tool and organizational further development could apply directly at VCC. We hope that the project results should also be transferable to other companies.

7.2 Outline of Thesis Work

A preliminary outline of thesis work is given below:

~ December, 2004 Courses work: ARTES++ course: Research Planning, RegelTeknik, Motion Control and Real Time Implementation, ARTES++ course: Design of Embedded Real-Time System

Literature study: Languages, tools and integrations.

January, 2005 First survey at VCC To investigate the existing tools and models and model integration situation at VCC.

February ~ December 2005 Case study and project work at VCC

Main work includes: Model framework development, tools development, model integration implementation.

Attend another ARTES++ course.

January ~ August 2006 Model Validation and Improvement

September 2006, Lic


18

7.3 Specified Milestones:

In order to carry out the project, some specified steps are made for the beginning of the

research:

1: Study modeling and modeling languages such as UML2/SYSML

Final deadline: End of March 2005. Preliminary report due end of Dec. 2004.

2: State of the art study of related research. Time period: December – April 2005.

3: Case study of industrial problems and requirements.

This is currently being set up with Volvo and to be carried out in spring 2005.

Aim at to analyse the situation at VCC including models, tools and integrations, and to develop new methodology through technology integration and competence integration.

Expected reports and publications at this stage: Applying UML2/SYSML for Real-Time Implementation.

State of the art report.

Placing UML2/SYSML in model comparison framework.

Integration of UML2/SYSML with platform such as PDM system.

Specification on Industrial experiences and challenges.


19

8. Reference:

[1] AP233, 2003: http://step.jpl.nasa.gov/AP233/AP233-overview.html

[2] (Artist 2003). Roadmaps for Embedded Software and Systems, ARTIST (Advanced Real-Time Systems Information Society Technologies), IST-2001-34820, http://www.artist-embedded.org/Roadmaps/ directlink.html.

[3] Bate R. Kuhn D. & Wells C. et al. 1995 A systems engineering capability maturity model, version 1.1 (SECMM-95-01|CMU/SEI-95-MM-003). Pittsburgh, PA:Carnegie Mellon University, Software Engineering Institute, November 1995.

[4] Chen DeJiu and Törngren Martin (2001). Towards a Framework for Architecting Mechatronic Software Systems. In Proceedings of the 7th IEEE Int. Conference on Engineering of Complex Computer Systems, Skövde, Sweden, June 11-15, 2001

[5] Chen DeJiu (2004). Systems Modelling and Modularity Assessment for Embedded Computer Control Applications. Doctoral Thesis.

[6] Coates, G., Duffy, A.H.B., Whitfield, R.I. & Hills, W., (2003) A methodology for prospective operational design co-ordination, Proceedings from the ICED 03, International Conference on Engineering Design, Stockholm, August 19-21, 2003.

[7] East-EAA 2003: Ref: http://www.east-eea.net/

[8] Elkhoury Jad, Törngren Martin. Towards a Toolset for Architectural Design of Distributed Real-Time Control systems. In Proc. of IEEE Real-Time Systems Symposium – RTSS, London, December 2001.

[9] Eppinger, S.D, Salminen, V., 2001, “Patterns of product development interactions”; International Conference on Engineering Design ICED 01, Glasgow

[10] Gausemeier J., Flath M. and Möhringer S. (2000), Modelling of Functions of Mechatronic Systems, exemplified by tyre pressure control in automotive systems, Int. J. of Vehicle Design, Vol 28, Nos. 1/2/3, 2002, pp. 5-17

[11] Gausemeier, J., Flath, M. & Möhringer, S. (2001).“Conceptual design of mechatronic systems supported by semi- formal specification”; International conference on advanced intelligent mechatronics proceedings. Como, Italy-

[12] Griffin, A., (1997) Drivers of NPD Success: The 1997 PDMA Report, A Griffin (ed) Product Development and Management Association, Chicago.

[13] Kahn, K.B., (2001) Market orientation, interdepartmental integration, and product development performance, The journal of Product Innovation Management, vol 18, 314-323.

[14] Leveson N.G., Intent Specifications: An Approach to Building Human Centered Specifications, IEEE Transactions on Software Engineering, VOL. 26, NO. 1, JAN 2000.

[15] L. Petersson, A framework for integration of processes in autonomous systems, PhD Thesis, ISBN 91-7283-251-7, Stockholm KTH, 2002.


20

[16] MoBIES 2003: http://www.rl.af.mil/tech/programs/MoBIES/

[17] N. Medvidovic, and R.N Taylor, A Classification and Comparison Framework for Software Architecture Description Languages. IEEE Transactions on Software Engineering, VOL. 26, NO. 1, JAN 2000.

[18] Ola Larses (2003), Dependable architectures for automotive electronic: Philosophy, Theory and Practice.

[19] Ola Larses, Niklas Adamsson (2004), Drivers for model based development of mechatronic systems.

[20] Olson, E.M., Walker, Jr.O.C., Ruekert, R.W. & Bonner, J.M., (2001) Patterns of cooperation during new product development among marketing, operations and R&D: Implications for project performance, The Journal of Product Innovation Management, vol 18, 258-271.

[21] Object Management Group. MDA: The architecture of choice for a changing world. http://www.omg.org/mda.

[22] P. C. Clements, A Survey of Architecture Description Languages, Eighth International Workshop on Software Specification and Design, Germany, March 1996.

[23] Rajarishi Sinha, Paredis Christiaan J.J., Khosla Pradeep K. (2002), Behavioral Model Composition in Simulation-Based Design. Proceedings of the 35th annual simulation symposium IEEE.

[24] Rechtin E., M. W. Maier, The Art of System Architecting, ISBN 0-8439-7836-2, CRC Press, 1997.

[25] Rothfuss, R. et al. (2002), Systems Engineering in the Design of Mechatronic Systems, Int. J. of Vehicle Design, Vol 28, Nos. 1/2/3, 2002, pp. 18-36

[26] RTC, 2003: Ref: http://www.md.kth.se/RTC/

[27] R. Wieringa, A survey of structured and object-oriented software specification methods and techniques, ACM Computing Surveys (CSUR), Volume 30, Issue 4, Pages: 459 – 527, December, 1998.

[28] Sedres 2003: http://www.epmtech.jotne.com/newsletter/ew101/sedres.html

[29] Taminé, O. & Dillmann. R., (2003) “KaViDo - a web-based system for collaborative research and development processes” Computers in Industry Volume 52, Issue 1 , September 2003, Pages 29-45.

[30] Troxler, P. & Lauche, K., (2003) Knowledge Management and learning culture in distributed engineering, Proceedings from the ICED 03, International Conference on Engineering Design, Stockholm, August 19-21, 2003.

[31] Törngren Martin and Redell Ola (2000). A Modelling Framework to support the design and analysis of distributed real-time control systems. Invited Paper. Journal of Microprocessors and Microsystems, 24 (2000) 81-93. Elsevier.


21

[32] Törngren M., Per Johanessen, Niklas Adamsson, "Experiences from system integration and model based development of automotive embedded control systems". Mekatronikmöte, 27-28 augusti 2003, Göteborg

[33] Törngren Martin and Ola larses, “Characterization of model based development of embedded control systems from a mechatronic perspective; drivers, processes, technology and their maturity”. MDA summer school, August 2004, France

[34] van Amerongen Job, Coelingh Erik, de Vries Theo J.A. (2000), Computer support for mechatronic control system design, Robotics and autonomous systems no 30 2000 pp. 249- 260.

[35] Wikander, J., Törngren M., Hanson, M. (2001). The science and education of mechatronics design. IEEE Robotics & Automation Magazine, June 2001, p. 21- 26.

[36] Yan, X.T., Sharpe, J.E.E., (1994), “A Comparative Study of Simulation Techniques in Mechatronics”; International Conference on Control ´94, vol. 2, pp.934 –9409

Documents

Final Assignment of Research Planning - · PDF fileFinal Assignment of Research Planning ... methodology coming together with new tools that provide ... long from being solved for