considering abstraction levels on a case...
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![Page 1: Considering Abstraction Levels on a Case Studyoverturetool.org/workshops/14/FM2016_presentationCT_RN.pdf · GPS Magnetometer Motor(s) Sensor Input Sensor](https://reader034.vdocuments.site/reader034/viewer/2022050522/5fa5eadaa9cdb75b827fec58/html5/thumbnails/1.jpg)
www.into-cps.au.dk
ConsideringAbstractionLevelsonaCaseStudy
CasperThule&RenéNilsson
2016-11-07
![Page 2: Considering Abstraction Levels on a Case Studyoverturetool.org/workshops/14/FM2016_presentationCT_RN.pdf · GPS Magnetometer Motor(s) Sensor Input Sensor](https://reader034.vdocuments.site/reader034/viewer/2022050522/5fa5eadaa9cdb75b827fec58/html5/thumbnails/2.jpg)
• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
2ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
3ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Cyber-physicalSystems– Interactionbetweencyberpartsandphysicalentities.E.g.aUAV
– Complexityischallenging
• Co-simulation– Modelsofconstituent components– DiscreteEventandContinuousTime
• Technologies– Crescendo– INTO-CPS
• Goal
4ConsideringAbstractionLevelsonaCaseStudy
Introduction
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• CTmodel– NopriorknowledgeofUAVdynamics– Abstractmodeling– Modelrefinement
5ConsideringAbstractionLevelsonaCaseStudy
History
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• DEmodel– APM:Copter– Reverseengineering
6ConsideringAbstractionLevelsonaCaseStudy
History
![Page 7: Considering Abstraction Levels on a Case Studyoverturetool.org/workshops/14/FM2016_presentationCT_RN.pdf · GPS Magnetometer Motor(s) Sensor Input Sensor](https://reader034.vdocuments.site/reader034/viewer/2022050522/5fa5eadaa9cdb75b827fec58/html5/thumbnails/7.jpg)
• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
7ConsideringAbstractionLevelsonaCaseStudy
Agenda
![Page 8: Considering Abstraction Levels on a Case Studyoverturetool.org/workshops/14/FM2016_presentationCT_RN.pdf · GPS Magnetometer Motor(s) Sensor Input Sensor](https://reader034.vdocuments.site/reader034/viewer/2022050522/5fa5eadaa9cdb75b827fec58/html5/thumbnails/8.jpg)
• Blockdiagramsanddifferential equations in20-sim
8ConsideringAbstractionLevelsonaCaseStudy
CTModel
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• APM:Copter reverse engineering• ModeledwithVDM-RT
9ConsideringAbstractionLevelsonaCaseStudy
DEModel
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
10ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Hardware
• Controlflow
11ConsideringAbstractionLevelsonaCaseStudy
BasicsofaUAV
Sensors
GyroscopeAccelerometer
BarometerGPS
Magnetometer
<<Actuator>>Motor(s)
SensorInput SensorFusion
FlightModePosition,velocity MotorController
Roll,pitch,yaw,velocity
Pilot Waypoint
Motor(s)
Throttle
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• Waypoint
• Abstractedcontrolmodels(P&PID)
12ConsideringAbstractionLevelsonaCaseStudy
Abstraction
GPS SF_GPS MotorControllerFlightController
Motor
UAV
PositionControl
P/PIDController
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
13ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Co-simulationresults.– Goal:3,2and4meters
• Totalerror
3.364.9
4.98
-0.16
1.7
0.55
5.36
5.75
7.3
14ConsideringAbstractionLevelsonaCaseStudy
Results
P PID Original
~6.78 meters ~3.34 meters ~3.89 meters
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• 6hourstocreateabstractions– files/LinesofCode
• High-levelbehaviorvslowleveldetails
• Breadthapproach
15ConsideringAbstractionLevelsonaCaseStudy
Reflection
<<SensorFusion>>GPS
Position,velocity <<FlightMode>>Waypoint
Refinement
<<SensorFusion>>GPS,Accelerometer,
Gyroscope,Barometer,
Magnetometer
Position,velocity
Breadth Depth
P PID Original12/307 12/333 42/2270
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
16ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Tools• Functionality
• Maxdiff:11.8cm
17ConsideringAbstractionLevelsonaCaseStudy
INTO-CPS
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
18ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Abstractionusefulforprototyping– Gaininsight– Handlecomplexity– 6hours– Different expertises
• TransitiontoINTO-CPStechnology– Only interfacevariablechanges
19ConsideringAbstractionLevelsonaCaseStudy
Conclusion
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• Introduction• Modeldescription• Modelabstraction• Results• INTO-CPS• Conclusion• Futurework
20ConsideringAbstractionLevelsonaCaseStudy
Agenda
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• Utilize additional INTO-CPSfeatures– DesignSpaceExploration– Hardware-In-the-Loopsimulation– Software-In-the-Loopsimulation
• Generic componentsforOverture– Vector,controllers,driversetc.– Improvetoolsupport,reducedevelopmenttime
• Futurecasestudy– Battery management– Very low abstraction level
21ConsideringAbstractionLevelsonaCaseStudy
FutureWork
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”Thepurposeofabstraction isnottobe vague,buttocreate anewsemantic level inwhich
one can be absolutely precise”
- Edsger W.Dijkstra
22ConsideringAbstractionLevelsonaCaseStudy