A Modelica Library for Real-Time Coordination Modeling

Uwe Pohlmann
Software Engineering Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Stefan Dziwok
Software Engineering Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Julian Suck
Software Engineering Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Boris Wolf
Software Engineering Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Chia Choon Loh
Control Engineering and Mechatronics Group, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Matthias Tichy
Department of Computer Science and Engineering, Chalmers/University of Gothenburg, Sweden

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp12076365

Ingår i: Proceedings of the 9th International MODELICA Conference; September 3-5; 2012; Munich; Germany

Linköping Electronic Conference Proceedings 76:38, s. 365-374

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Publicerad: 2012-11-19

ISBN: 978-91-7519-826-2

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


Increasingly; innovative functionality in embedded systems is realized by connecting previously autonomous embedded systems. This requires real-time communication and coordination between these connected systems. Modelica and the StateGraph2 library provide a good environment for modeling embedded systems including controllers and physics. However; it lacks appropriate support for modeling the communication and coordination part.

In this paper; we present an extension to the StateGraph2 library that enables modeling asynchronous and synchronous communication and rich real-time constraints. We illustrate our extension of the StateGraph2 library by modeling and simulating two miniature robots driving in a platoon.


StateGraph2; Modelica Library; Coordination; Asynchronous Communication; Real-Time


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