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

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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.