The Signal data flow methodology applied to a production cell

摘要

: This report presents a method to specify, verify and implement a controller for a robotic production cell using the Signal approach. This work has been performed as part of a case study concerning a production cell, proposed by FZI of Karlsruhe. Our contribution to this case study aims at illustrating the methodology associated with the Signal synchronous data flow language for the specification and implementation of control systems, as well as the verification of statical and dynamical properties using a proof system for Signal programs. We describe the full development of the example, specifying a generic controller, safe for all scheduling scenarios. The specification is structured in a modular way, using two decomposition principles: one following the architecture of the production cell, the other one separating the controller from the model of the system to be controlled. The latter point lies the originality of the approach, compared to imperative methods: the declarative lang...