Real-time software design system for reliable controller with a test phase in design steps.

在研究项目中，主要考虑了两个问题。一是软件设计系统VD/RCS的开发，该系统实现了实时响应和高可靠性。另一种是将VD/RCS应用于机器人控制软件，对加工时间和输出偏差进行系统评估。以下1.至4.是对本研究贡献的总结。逐步重用和模块化：在设计的第一步，软件结构由任务图来描述，任务图自然是通过逐步求精来构造的。由于任务图中的任务是以多任务的方式通过截止期调度来执行的，因此我们可以很容易地添加或修改处理，而不需要准确地估计总处理时间。此外，我们还实现了视频功能，通过同步的软件行为来显示被控对象的运动。软件规格说明的可视化：我们在软件规格说明的一部分中新引入了二维或三维图形，并实现了它们的可视化输入输出。此外，基于任务图直观地表示软件结构。此外，在测试阶段，我们可以通过可视化的模拟来直观地分析软件行为。高可靠性：我们提出了一种在允许一定偏差的情况下保证定量可靠性的方法。在该方法中，在任何数据大小可接受的情况下，可以保证任何偏差。在机器人控制软件中的应用与评价：在上述研究成果的基础上，开发了具有实时响应和高可靠性的软件设计系统VD/RCS。然后，将其应用于机器人控制软件的设计中，对系统的性能进行了评估。评价结果表明，软件组织良好，给定响应时间和最大偏差均令人满意，提出了一种实时响应、高可靠性的控制软件设计方法。它可以提高实时软件的生产率和可靠性。

In the research project, two issues are mainly considered. One is development of a software design system VD/RCS which realizes real-time response and high reliability. Another is system evaluations of processing time and output deviation by applying VD/RCS to robot control software. The following 1. through 4. are summary of this research contributions.1. Stepwise relinement and modularity : At the first design step, software structure is specified by a task graph, which is naturally constructed by stepwise refinement. As tasks in the task graph are executed by deadline scheduling in a multi-task manner, we can easily add or modify processing without exact estimation of total processing time. Additionally, we realize a video function which displays motion of a controlled object with synchronized software behavior.2. Visualization of software specification : We newly introduce 2 or 3 dimensional graphs in a part of software specification, and realize their visualized input and output. Moreover, a software structure is visually represented based on the task graph. Furthermore, in a test phase, we can intuitively analyze software behavior by a visualized simulation.3. High reliability : We propose a method which guarantees a quantitative reliability where a certain deviation is permitted. In the method, any deviation can be guaranteed in case that any data size is acceptable.4. Application to robot control software and evaluation : Based on above results, a software design system VD/RCS with real-time response and high reliability is developed. Then, the system performance is evaluated by applying it to designing robot control software. This evaluation shows that the software is well organized, and given response time and maximum deviation are satisfied.This research presents a design method for control software with real-time response and high reliability. It can improves productivity and reliability of real-time software.