The behavior of a self-optimizing mechatronic system cannot be completely anticipated from the developers. Therefore processes, for the rational exploration are needed, as well as methods and tools, which make the mechanisms of self-optimization visible and understandable. A super ordinate goal of this subproject is the development and testing of new interaction, representation and analysis techniques for the development and validation of self-optimizing mechatronic systems by virtual prototypes. In this field simulation, verification, visualization and interaction techniques as well as Virtual Reality (VR) and Augmented Reality (AR) are the key technologies.
Systematic Test of a model
In the 1st period a synthesis/an analysis environment was developed, based on solution elements as well as important components of the experimental infrastructure. The synthesis based on the interactive assembly of solution elements and the generation of the computer-internal representation of the assembly structure, the active structure and the controller. Beyond that, important components of the simulation and visualization infrastructure were developed, e.g. a communication server for the synchronized communication between different simulation and visualization components.
A focus of the 2nd period was the development of methods for the validation of the functions of s.o. systems. For this purpose, a method was developed for probably-planned experimenting, which follows the method of systematic testing, as well as techniques for the visual analysis of the results. In addition the technology AR was used. Altogether three partial goals were pursued:
Visualization of a controler reconfiguration during a simulation
1) The systematic testing of s.o. systems, which supports the developers from the admission of the requirements up to the execution of probably-planned experiments. The systematic test of s.o. systems requires the definition of a generic functional test environment for the test object, as well as the definition of the test samples and the test analysis. Here the existing methodical gap between the requirements and test environments was reduced and automated. On the one hand the transfer of requirements in descriptions of test for the s.o. systems was examined. On the other hand, abstraction steps and intermediate formats were developed, which supplement the existing specification languages, and which extend the classification tree method for embedded systems (Classification Tree Method for Embedded system CTM/ES) with a functional verification.
2) Plausible visualization of the mechanisms of self-optimization: So that an engineer understands the complex behavior of a s.o. system during an analysis session, it is necessary to represent the mechanisms of self-optimization concisely and well comprehensibly. For that purpose presentation task was gathered. For those tasks visualizations were developed, which support the developers by the analysis. Furthermore monitoring and protocol interfaces were developed, which ensure a transmission of the data necessary for visualization from a s.o. system to an AR/VR system. This facilitates an off-line visualization of simulation and test results as well as an on-line visualization directly at the s.o. system.
Visualization of a RailCab convoy, formed by one real an four simulated RailCabs
3) Common analysis of virtual and real (sub)-systems: The concept of self-optimization brings it with itself that system elements often show a behavior, which the developer did not anticipate during development. To facilitate an easy understanding of that behavior, the developed experimentation environment allows a common analysis of virtual and real (sub-) systems. Real subsystems were integrated into the experimentation environment by using hardware in the loop techniques. Furthermore suitable interaction and output devices were determined, which put the developer into the position to accomplish the experimentation of the system also at the workbench locally. In particular the view was enriched on real existing subsystems with the help of the technology AR, in order to clarify the immaterial effect connections by lists of new annotations and animations, i.e. by multimedia representations of not visible information and results of analysis. For this, a cluster-based AR platform was developed and tracking methods for the work with the AR platform at the location of a s.o. system where determined.
The already existing methods and tools are to be automated in the future. It is planned to extend the existing experimentation environment to a self-optimizing experimentation environment, whose results are visualized automatically.
Directors of the Subproject:
Coordinator of the Subproject:
Publications (since 6/2005)
Reviewed Publications
Bauch, J.; Radkowski, R.; Zabel, H.: An Explorative Approach to the Virtual Prototyping of Self-optimizing Mechatronic Systems. In: ProSTEP iViP Science Days 2005 - Cross Domain Engineering, Darmstadt, 2005
Conrad, M.; Krupp, A.: An Extension of the Classification-Tree Method for Embedded Systems for the Description of Events. In: Second Workshop on Model Based Testing, MBT 2006, Vienna, Austria, 2006
Flake, S.; Müller, W.; Ruf, J.: Structured English for Model Checking Specification. In: GI-Workshop Methoden und Beschreibungssprachen zur Modellierung und Verifikation von Schaltungen und Systemen in Frankfurt, VDE Verlag, Berlin, 2000
Gausemeier, J.; Bauch, J.; Radkowski, R.; Zabel, H.: Augmented Prototyping-Umgebung für die Analyse intelligenter mechatronischer Systeme. HNIVerlagsschriftenreihe, Band 167, Paderborn, 2005
Gausemeier, J.; Böcker, J.; Radkowski, R.; Wassmann, H.; Henke, C.: Anwendung von Augmented Reality zur Visuellen Analyse einer Konvoi-Simulation am Beispiel der Neuen Bahntechnik Paderborn. In: Proc. of Simulation und Visualisierung, Magdeburg, 2008
Grossmann, J.; Conrad, M.; Fey, I.; Krupp, A.; Lamberg, K.; Wewetzer, C.: TestML - A Test Exchange Language for Model-based Testing of Embedded Software. In: Automotive Software Workshop '06, San Diego, 2006
Grossmann, J.; Mueller, W.: A Formal Behavioral Semantics for TestML. In: Proc. of IEEE ISoLA 06, Paphos Cyprus, 2006, pp. 453-460
Gausemeier, J.; Radkowski, R.; Kleinjohann, B.; Richert, W.; Henning Zabel, P. A.: Augmented Reality for the Testing of Autonomous Systems by the Example of Soccer Robots - Concepts and Experimental Results. In: Workshop Virtual Prototyping Applications, International Scientific Colloquium 2008 (IWK 2008), Ilmenau, 2008
Krupp, A.; Mueller, W.: Die Klassifikationsbaummethode für eingebettete Systeme mit Testmustern für nichtkontinuierliche Reglerelemente. In: INFORMATIK 2005 - Informatik LIVE!, 35. GI-Jahrestagung, 3. ASWE Workshop, Volume 2, Bonn, 2005
Krupp, A.; Müller, W.: Classification Trees for Random Test and Functional Coverage. In: Design, Automation and Test in Europe (DATE 2006), Munich, Germany, 2006
Krupp, A.; Müller, W.: Systematic Testbench Specification for Constrained Randomized Test and Functional Coverage. In: 21st European Conference on Modelling and Simulation ECMS 2007, Prague, Czech Republic, 2007
Lietsch, S.; Berssenbrügge, J.; Zabel, H.; Wittenberg, V.; Eikermann, M.: Light Simulation in a Distributed Driving Simulator. In: 2nd International Symposium on Visual Computing (ISVC2006), Lake Tahoe, Nevada, 2006
Laroque, C.; Lietsch, S.; Zabel, H.: Computational Steering verteilter, interaktiver Materialflusssimulationen. HNI Verlagschriftenreihe, Band 232, Paderborn, 2008
Lavagno, L.; Mueller, W.: UML: A Next Generation Language for SoC Design. In: Electronic Design, Mai, 2006
Lietsch, S.; Zabel, H.; Berssenbrügge, J.: Computational Steering of Interactive and Distributed Virtual Reality Applications. In: ASME 2007 International Design Engineering Technical Conference & Computers and Information in Engineering Conference, Las Vegas, USA, 2007
Martin, G.; Mueller, W.: UML for SoC Design. Springer, Berlin, 2005
Martin, G.; Mueller, W.: When Worlds Collide: Can UML help SoC Design? In: UML for SoC Design, Springer Verlag, Berlin, 2005
Mueller, W.; Rosti, A.; Bocchio, S.; Riccobene, E.; Scandurra, P.; Dehaene, W.; Vanderperren, Y.: UML for ESL Design - Basic Principles, Tools, and Applications. In: Proc. of International Conference on CAD 2006, San Jose, USA, Nov, 2006
Müller, W.; Zabel, H.: Towards a Unified Behavioral Language - A Simulation Framework Based Approach. In: Proceedings of the UML-SoC Workshop, San Francisco, USA, 2006
Radkowski, R.: Einsatz und Nutzen virtueller Technologien für die Entwicklung intelligenter technischer Systeme. In: 2. Tagung zur Medienproduktion - Produktion und Virtualität, Branchen lernen voneinander, Ilmenau, 2008
Rammig, F. J.; Dangelmaier, W.; Karl, H.; Mertsching, B.; Meyer Auf Der Heide, F.; Trächtler, A.: Self-Coordinating Systems: The Next Challenge in Research on Distributed Systems. In: Proceedings of the 6th International Heinz Nixdorf Symposium, HNI Verlagsschriftenreihe, Band 181, Paderborn, 2006
Radkowski, R.; Gausemeier, J.: Virtuelle Umgebungen zur Entwicklung selbstoptimierender Systeme. In: 11. IFF Wissenschaftstage, Magdeburg, 2008
Radkowski, R.; Henke, C.: Einsatz von Virtual Reality zur Untersuchung realer und simulierter mechatronischer Systeme am Beispiel der neuen Bahntechnik Paderborn. In: 10. IFF Wissenschaftstage, Magdeburg, 2007
Radkowski, R.; Krupp, A.: Ein Ansatz für Augmented Reality-basiertes systematisches Testen eingebetteter Systeme. In: 11. IFF Wissenschaftstage, Magdeburg, 2008
Radkowski, R.; Wassmann, H.: Using Computer Vision for Utilizing the Human Hand in An Augmented Reality Application. In: Proceedings of Computer Graphics & Visualization, Lissabon, Portugal, 2007
Radkowski, R.; Wassmann, H.: Augmented Reality at the Devlopment Process of Mechatronic and Self-Optimizing Systems - Workshop. In: International Conference for Remote Engineering & Virtual Instruments, Düsseldorf, 2008
Radkowski, R.; Wassmann, H.: An Augmented Reality-based Approach for the Visual Analysis of Intelligent Mechatronic Systems. In: IDETC/CIE 2008, ASME 2008 Design Engineering Technical Conference & Computer and Information in Engineering Conference, New York, USA, 2008
Radkowski, R.; Wassmann, H.; Borzykh, M.: Echtzeit-Visualisierung am Prüfstand eines Fahrwerks zur Analyse des Fahrverhaltens. In: Gausemeier, J., Grafe, Michael (Hrsg.): Augmented & Virtual Reality in der Produktentstehung, HNI Verlagschriftenreihe, Band 232, Paderborn, 2008
Radkowski, R.; Wassmann, H.; Henke, C.: An Example for Augmented Reality to support the Engineer during Hardware-in-the Loop-Tests. In: International Conference on Human and Computers, Düsseldorf, 2007
Radkowski, R.; Wassmann, H.; Henke, C.: Use of Augmented Reality to support the Visual Analysis of Hardware-in-the-Loop-Systems. In: International CIRP Design Seminar -Design Synthesis, Enschede (NL), 2008
Radkowski, R.; Wassmann, H.; Oehlschlaeger, H.; Krebs, J.: Verfahren zur Darstellung von Händen in einer interktiven Augmented Reality Anwendung. In: Simulation & Visualisierung 2007, Magdeburg, 2007
Radkowski, R.; Zabel, H.; Richert, W.; Adelt, P.: Augmented Reality-based behavior-Analysis of Autonomous Robotic Soccers. In: Guimaraes, N., Isaias, Pedro (Eds.): IADIS International Conference of Applied Computation, Carvoeiro (Portugal), 2008
Stöcklein, J.; Geiger, C.; Dörries, G.; Zabel, H.: Authoring of 3D and AR Applications for Educational Purposes. In: Proceedings of Remote Engineering and Virtual Instrumentation REV 2008, Düsseldorf, 2008
Schattkowsky, T.; Xie, T.: UML and IP-XACT for Integrated SPRINT IP Management. In: Proceedings of the UML-SoC Workshop (UML-SoC'08), Anaheim, USA, 2008
Vanderperren, Y.; Mueller, W.; Daheane, W.: UML for Electronic Systems Design - A Comprehensive Overview. In: Journal on Design Automation for Embedded Systems, Aug, 2008
Zabel, H.; Mueller, W.: An Efficient Time Annotation Technique in Abstract RTOS Simulations for Multiprocessor Task Migration. In: Kleinjohann, L., Keinjohann, B. (Eds.): IFIP Working Conference on Distributed and Parallel Embedded Systems (DIPES 2008), 2008
Zabel, H.; Mueller, W.; Gerstlauer, A.: Accurate RTOS Modelling and Analysis with SystemC. In: Ecker, W., Mueller, W., Doemer, R. (Eds.): Hardware-dependent Software, Springer, 2008
Ph.D.-Theses
Götz, M.: Run-time Reconfigurable RTOS for Reconfigurable Systems-on-Chip. Dissertation, Universität Paderborn, Heinz Nixdorf Institut, Entwurf Paralleler Systeme, 2007
