scholarly journals A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

2020 ◽  
Vol 10 (22) ◽  
pp. 8293
Author(s):  
Ngo Van Hien ◽  
Ngo Van He ◽  
Van-Thuan Truong ◽  
Ngoc-Tam Bui
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Modeling Language ◽  
Hybrid Automata ◽  
Model Driven Architecture ◽  
The Real ◽  
Model Driven ◽  
Planar Trajectory ◽  
Independent Model

In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

scholarly journals A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ngo Van Hien ◽  
Van-Thuan Truong ◽  
Ngoc-Tam Bui
Keyword(s):  
Real Time ◽  
Systems Engineering ◽  
Unscented Kalman Filter ◽  
Autonomous Underwater Vehicles ◽  
Specific Model ◽  
Hybrid Automata ◽  
The Real ◽  
Model Driven ◽  
Planar Trajectory ◽  
Independent Model

This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.

scholarly journals An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Ngo Van Hien ◽  
Van-Thuan Truong ◽  
Ngoc-Tam Bui
Keyword(s):  
Real Time ◽  
Systems Engineering ◽  
Hybrid Control ◽  
Control Model ◽  
Point Of View ◽  
Modeling Language ◽  
Hybrid Automata ◽  
New Applications ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Independent Model

The aerospace industry needs to be provided with system solutions to technologically challenging and mission-critical problems. Based on the industrial control point of view, development engineers must take costs and existing standards into account in order to effectively design, implement, and deploy control systems with reasonable costs. The customization and reusability are important factors associated with the production of new applications in order to reduce their costs, resources, and development time. In this work, the Model-Driven Architecture (MDA)/Model-Based Systems Engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), Unscented Kalman Filter (UKF) algorithm, and hybrid automata is specialized to obtain a hybrid control model in order to conveniently deploy controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAVs). This hybrid control model also provides a real-time capsule pattern, which allows the designed elements to be customizable and reusable in new applications of various multirotor UAVs of the Vertical Take-Off and Landing (VTOL) type. The Q-UAV dynamics and control architecture are combined with the MDA/MBSE specialization as follows: the Computation Independent Model (CIM) is defined by specifying the use-case model together with the UKF algorithm and hybrid automata to intensively gather the control requirements. The Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML’s features to obtain the main control capsules, ports, and protocols, together with their dynamic evolution. The detailed PIM is subsequently transformed into the PSM by open-source platforms to rapidly implement and deploy the Q-UAV controller. The paper ends with trial flights and deployment results that show good feasibility to be used for a trajectory-tracking controller of a low-cost Q-UAV. In this case study, the Q-UAV controller is implemented with the simulation model in the OpenModelica tool. The obtained simulation results then allow the main control elements and their properties to be defined, as well as building the implementation libraries in the Arduino environment based on C++ language to quickly perform the realization model in the ATMEGA32-U2 and STM32 Cortex-M4 microcontrollers.

Use of Business Models within Model Driven Architecture

2009 ◽  
Vol 38 (38) ◽  
pp. 119-130
Author(s):  
Erika Asnina
Keyword(s):  
Business Models ◽  
Business Processes ◽  
Use Cases ◽  
Separation Of Concerns ◽  
Model Driven Architecture ◽  
Model Driven ◽  
Development Processes ◽  
Business Requirements ◽  
Complex Computer ◽  
Independent Model

Use of Business Models within Model Driven Architecture Model Driven Architecture is a framework dedicated for development of large and complex computer systems. It states and implements the principle of architectural separation of concerns. This means that a system can be modeled from three different but related to each other viewpoints. The viewpoint discussed in this paper is a Computation Independent one. MDA specification states that a model that shows a system from this viewpoint is a business model. Taking into account transformations foreseen by MDA, it should be useful for automation of software development processes. This paper discusses an essence of the Computation Independent Model (CIM) and the place of business models in the computation independent modeling. This paper considers four types of business models, namely, SBVR, BPMN, use cases and Topological Functioning Model (TFM). Business persons use SBVR to define business vocabularies and business rules of the existing and planned domains, BPMN to define business processes of both existing and planned domains, and use cases to define business requirements to the planned domain. The TFM is used to define functionality of both existing and planned domains. This paper discusses their capabilities to be used as complete CIMs with formally defined conformity between planned and existing domains.

Transformation of Platform-Independent Model into Platform-Specific Model in Model-Driven Architecture

2013 ◽  
pp. 88-113
Author(s):  
Yashwant Singh ◽  
Manu Sood
Keyword(s):  
Software Development ◽  
Development Strategy ◽  
Specific Model ◽  
Relational Model ◽  
Model Transformations ◽  
Model Driven Architecture ◽  
Model Driven ◽  
Management Group ◽  
Enterprise Java Bean ◽  
Independent Model

The Model-Driven Architecture approach to software development uses transformation models for transforming Platform-Independent Models (PIM) into Platform-Specific Models (PSM) as its core software development strategy. The Model-Driven Architecture (MDA) approach and corresponding standards of the software development based on models have been initiated by the Object Management Group. In this chapter, the authors analyze the basic models of MDA (i.e., Computational Independent Model [CIM], PIM, and PSM) using a suitable example and formalize the model transformations for transforming PIM into PSM. These transformations have been illustrated through the generation of a Relational Model, an Enterprise Java Bean (EJB) Model, and a Web Model from PIM for the example under consideration, using UML profile, and keeping in mind the property of reusability of models in MDA transformations. The focus has been on the specification and formalization of rules needed to get the Relational PSM, EJB PSM, and Web PSM from PIM. A transformation tool, whose functionality of transformation of PIM into Relational PSM, EJB PSM, and Web PSM, is illustrated in this chapter.

A model-driven implementation to realize controllers for Autonomous Underwater Vehicles

2018 ◽  
Vol 78 ◽  
pp. 307-319 ◽  
Author(s):  
Ngo Van Hien ◽  
Ngo Van He ◽  
Pham Gia Diem
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Model Driven

scholarly journals A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

2017 ◽  
Vol 2017 ◽  
pp. 1-16 ◽  
Author(s):  
Jianjun Ni ◽  
Liuying Wu ◽  
Pengfei Shi ◽  
Simon X. Yang
Keyword(s):  
Neural Network ◽  
Path Planning ◽  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Planning Method ◽  
Planning Problem ◽  
Detection Range ◽  
The Real ◽  
Time Path

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

Sign in / Sign up

Export Citation Format

Share Document