4.1 Article

Robotic Design Choice Overview Using Co-Simulation and Design Space Exploration

期刊

ROBOTICS
卷 4, 期 4, 页码 398-420

出版社

MDPI AG
DOI: 10.3390/robotics4040398

关键词

animal feeding; crescendo; collaborative modeling; sensor fusion

类别

资金

  1. Danish Ministry of Food, Agriculture and Fisheries
  2. INTO-CPS - European Commission's Horizon program under Grant Agreement Number [664047]
  3. H2020 Societal Challenges Programme [664047] Funding Source: H2020 Societal Challenges Programme

向作者/读者索取更多资源

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 modeling technique that combines discrete-event models of controller software with continuous-time models of physical robot components. The proposed co-modeling method utilizes the Vienna development method (VDM) and MATLAB for discrete-event modeling and 20-sim for continuous-time modeling. The model-based development of a mobile robot mink feeding system is used to illustrate the collaborative modeling 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 analyzed using design space exploration (DSE), which evaluates candidate solutions in relation to preselected optimization criteria. The result of the analysis provides developers with an overview of the impacts of each candidate solution 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.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.1
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据