@inproceedings{Barner2010a, author = {Barner, Simon and Geisinger, Michael and Huang, Jia and Knoll, Alois and B{\"{o}}nicke, Holger and Ament, Christoph and Mades, Jochen and Pittschellis, Reinhard and Bauer, Gerd}, editor = {Gausemeier, J{\"{u}}rgen and Ramming, Franz and Sch{\"{a}}fer, Wilhelm and Tr{\"{a}}chtler, Ansgar}, title = {{E}asy{K}it - {E}ine allgemeine {M}ethodik f{\"{u}}r die {E}ntwicklung von {S}teuerungskomponenten}, booktitle = {{E}ntwurf mechatronischer {S}ysteme}, series = {{HNI-Verlagsschriftenreihe}}, volume = {272}, pages = {23--36}, year = {2010}, institution = {Technische Universit{\"{a}}t M{\"{u}}nchen}, address = {Paderborn, Germany}, abstract = {Bei der Entwicklung mechatronischer Systeme spielen Entwurf und Implementierung der Steuerungskomponente eine entscheidende Rolle. Hierbei lassen sich die folgenden Trends feststellen: Zentralisierte, oft SPS-basierte Systeme werden vermehrt durch dezentrale Ans{\"{a}}tze abgel{\"{o}}st, bei denen die prozessnahe Vorverarbeitung von Sensorsignalen und die Erzeugung von Steuersignalen f{\"{u}}r die Aktorik von effizienten, auf die jeweilige Aufgabe spezialisierten Systemen {\"{u}}bernommen werden. Des Weiteren gibt es vermehrt Anstrengungen, die sequenzielle Entwicklung von Maschine, Steuerung und Software aufzubrechen und zu parallelisieren (Hardware/Software Co-Design). Die EasyKit-Methodik ist ein m{\"{o}}glicher Ansatz, um diesen Anforderungen gerecht zu werden: Mit einem Elektronik-Baukastensystem steht ein Mittel zur Verf{\"{u}}gung, mit dem sich effizient auf die vorliegende Aufgabe zugeschnittene Mikrocontroller-basierte Steuerungen entwickeln lassen, die ohne weitere Beschaltung g{\"{a}}ngige industrielle Signaltypen verarbeiten und in bestehende Bussysteme und Netzwerke integriert werden k{\"{o}}nnen. Die Entwicklung der Software erfolgt mit dem modellgetriebenen Werkzeug EasyLab auf hohem Abstraktionsniveau und unabh{\"{a}}ngig von der verwendeten Hardware-Architektur. Die Modellierung dient als Grundlage f{\"{u}}r einen vorlagenbasierten Code-Generator sowie eine Simulationskomponente, die den Entwickler bei Planung und Fehlersuche unterst{\"{u}}tzt. Dar{\"{u}}ber hinaus erlaubt es eine Debugging-Schnittstelle, Programme, die auf der Zielhardware ablaufen, in Echtzeit zu beobachten und zu manipulieren. Die universelle Einsetzbarkeit eines Entwicklungsprozesses spielt eine wichtige Rolle f{\"{u}}r dessen Akzeptanz. Daher zeigen wir anhand von drei Fallbeispielen auf, wie EasyKit verwendet werden kann, um sowohl die Entwicklung komplexer industrieller Systeme zu strukturieren als auch die entsprechenden Grundlagen in der Ausbildung anschaulich zu vermitteln.}, keywords = {Code Generation, components, didactics, easykit, EasyLab, embedded, model driven development, systems}, } @inproceedings{, author = {Geisinger, Michael and Barner, Simon and Wojtczyk, Martin and Knoll, Alois}, title = {A Software Architecture for Model-Based Programming of Robot Systems}, booktitle = {Advances in Robotics Research -- Theory, Implementation, Application}, publisher = {Springer}, pages = {135--146}, year = {2009}, month = jun, abstract = {While robot systems become more and more elaborate, the need to simplify programming them grows as well. Regarding the high degree of internal heterogeneity in the sense that different micro-controller platforms,protocols and performance layers are used in a single robot application, it is no longer feasible to have specialists dedicated to each individual task. This motivates the need for tool support that allows an abstract view not only on a robot's sensors and actuators, but also on the interconnection between the different components.In this work, we present how the model-based development and code generation tool EasyLab can be extended to support programming of all parts of a robot, including the main controller as well as peripheral devices like smart sensors. We show three typical use cases in the context of mobile platforms and also give an outlook on upcoming features such as distributed modeling and support for multi-core architectures.}, isbn = {978-3-642-01212-9}, doi = {10.1007/978-3-642-01213-6_13}, keywords = {embedded, easykit, EasyLab, Model-based Development, Code Generation, Interpretation, Zero Code Development, Smart Sensors, Smart Actuators, Communication}, } @inproceedings{, author = {Wojtczyk, Martin and Barner, Simon and Geisinger, Michael and Knoll, Alois}, title = {Rapid Prototyping of an Adaptive Light-source for Mobile Manipulators with {EasyKit} and {EasyLab}}, booktitle = {Proceedings of the 8th International Conference on Solid State Lighting: Applications, {SPIE} Optics and Photonics, Illumination Engineering}, year = {2008}, month = aug, abstract = {While still not common in day-to-day business, mobile robot platforms form a growing market in robotics. Mobile platforms equipped with a manipulator for increased flexibility have been used successfully in biotech laboratories for sample management as shown on the well-known ESACT meetings. Navigation and object recognition is carried out by the utilization of a mounted machine vision camera. To cope with the different illumination conditions in a large laboratory, development of an adaptive light source was indispensable. We present our approach of rapid developing a computer controlled, adaptive LED light within one single business day, by utilizing the hardware toolbox EasyKit and our appropriate software counterpart EasyLab.}, doi = {10.1117/12.795019}, keywords = {Adaptive Light-source, Service Robotics, Rapid Hardware Prototyping, Zero Code Development, easykit, easylab, robotics, labautomation}, } @inproceedings{Barner2008a, author = {Barner, Simon and Geisinger, Michael and Buckl, Christian and Knoll, Alois}, title = {{EasyLab}: Model-Based Development of Software for Mechatronic Systems}, booktitle = {IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications}, pages = {540--545}, year = {2008}, institution = {Technische Universit{\"{a}}t M{\"{u}}nchen}, address = {Beijing, China}, abstract = {Model-based development tools are one possible solution to handle the increasing complexity of mechatronic systems. While traditional approaches often separate design of hardware and software, especially in mechatronic systems hardware/software interaction is the most critical component. Hence, both aspects must be considered in this context. The goal is a model-based development tool for software/hardware co-design including the generation of efficient code for the respective target platforms. EasyLab is a modular and easily expandable development tool especially suitable for such applications. Its objectives are to facilitate reusability and to accelerate the development process. It raises the level of abstraction and thus simplifies the development of mechatronic systems even for unexperienced users. A graphical user interface provides various modeling languages that are easy to use. By employing platform optimized generation of the code, efficiency of the resulting programs can be guaranteed, which we demonstrate on a set of experimental mechatronic systems.}, doi = {10.1109/mesa.2008.4735652}, keywords = {easykit, EasyLab, embedded, Hardware-Software Codesign, Model-based Development, Rapid Hardware Prototyping, Zero Code Development}, }