1. The 14th IEEE International Conference on Industrial Informatics (INDIN), July 2016, Poitiers, France
Towards a Model-Integrated Computing Paradigm for Reconfigurable Motion Control System
Li Di1, Zhou Nan1, Wan Jiafu1, Zhai Zhenkun1, Athanasios V. Vasilakos2
1 South China University of Technology, China
2 Luleå University of Technology, Sweden

2. Outline Motiviation Solution: Model-Integrated Computing
Motion Controller in Modern Manufacuring Environment
Solution: Model-Integrated Computing
IEC Based Domain-Specific Modeling Language
DSML Design Environment
Meta-Modeling (Syntax Domain)
Model Transformation (Semantics Domain)
DSML Execution Environment
Domain-Independent Execution Environment
Domain-Specific Extension
Case Study
Conclusions

3. Motiviation Motion Controller
Device in the lowest layer of modern manufacturing control system
Challenge Faced
Hardware-software convergence with rigorous real-time constraints;
Manafactruing paradigm shift: mass production to mass customization;
Outdated development philosophy;
New Development Paradigm should:
allow to develop the system on higher abstraction level;
bring enhanced flexibility, reconfigurability, dependability, etc.;
be easy-to-learn.

4. Outline Motiviation Solution: Model-Integrated Computing
Motion Controller in Modern Manufacuring Environment
Solution: Model-Integrated Computing
IEC Based Domain-Specific Modeling Language
DSML Design Environment
Meta-Modeling (Syntax Domain)
Model Transformation (Semantics Domain)
DSML Execution Environment
Domain-Independent Execution Environment
Domain-Specific Extension
Case Study
Conclusions

5. Solution Model-Integrated Computing Supporting Tool
Model-Driven Design;
Domain-Specific Modeling Language;
Multi-Aspect Modeling;
Easily Integrated Formal Syntax and Semantics
Meta
Modeling
Model Transformation
Domain Modeling
Model Integrated Computing is an approach to system development using domain specific models to represent the architecture and behavior of the system and its environment. The model-based and multi-aspect design principles can improve the efficiency, abstraction level and correctness of the development process.
DSML Designer and DSML User in the OMG four-layered architecture
One Tool: Generic Modeling Environment (GME)

6. Motion Control Domain Specific Extensions
Solution
Our Approach: Proposing two environments for supporting MIC-based development
Design-phase Implementation
DSML Definition
3rd-Party Tools
Model
Transform
UPPAAL
Domain
Meta-Model
Domain
Formal Semantics
Design
Environment
Ptolemy II
Domain Specific Model
Others
Model
Deploy & Re-Deploy
Execution-phase Implementation
IEC61499 Function Blocks Runtime Framework for Motion Control
Execution
Environment
Domain-independent
IEC Runtime Framework
Motion Control Domain Specific Extensions
Physical Environment

7. Outline Motiviation Solution: Model-Integrated Computing
Motion Controller in Modern Manufacuring Environment
Solution: Model-Integrated Computing
IEC Based Domain-Specific Modeling Language
DSML Design Environment
Meta-Modeling (Syntax Domain)
Model Transformation (Semantics Domain)
DSML Execution Environment
Domain-Independent Execution Environment
Domain-Specific Extension
Case Study
Conclusions

8. The environement is comprised of:
DSML Design Environment
The environement is comprised of:
a new development methodology,
a domain-specific modeling language (DSML),
a set of model transformers for assigning behavioral semantics,
a set of code generators for models deployment on specific platforms.
The most critical task in implementing such an environment:
Formal Syntax and Semantic Definition of the DSML
DSML: L = A, C, S, MC , MS;
Meta-models definitons to implement the syntax domain;
Semantic anchoring with regard to pre-defined Models of Computation to implement the semantics domain

9. Meta-Modeling (Syntax Domain) IEC 61499 Flexibility Reusability
Standard for Modeling Industrial Process and Measurement Control System
Flexibility
Reusability
Robustness
Reconfigurability
A modular, hierarchical
DSML based on the IEC 61499
Formal Syntax
Formal Semantics
DSML Execution Environment

10. Meta-Modeling (Syntax Domain) System Layer Formal Syntax
System Meta-Model in GME
System = D, DL, A, Fs 
Elements
Comments D
non-empty finite set of device models DL
link segments for inter-device communications A
application composed by IEC FB networks Fs
Fs: AD, allocation of A to D

11. Meta-Model in GME (Parts)
(Syntax Domain)
Device Layer
Device and Resource
Meta-Model in GME (Parts)
Formal Syntax
D = R, T, FD 
Elements
Comments R
non-empty finite set of resource models T
a set of run-time tasks FD
FD:TR, mapping relationship of T to R

12. Meta-Modeling (Syntax Domain) Resource Layer Formal Syntax
FB Meta-Model in GME (Parts)
R = H, Sos, TRef
T = FRef, d, p, w, prio
Elements
Comments H
a set of hardware-specific parameters
Sos
the set of available scheduler strategies for allocated tasks
TRef
the set of references to the allocated tasks
FRef
a set of referenced FBs and connections contained in system application
TPara
d, p, w, prio (real-time parameters)

13. Meta-Modeling Domain-Specific Concepts Integrated
Majorly inherited from the IEC reference models

14. Meta-Modeling Example System Model in GME Platform Aspect Function
Configuration
Aspect

15. Meta-Modeling Example Device , Resource and Task Models in GME
Models in the
MC Card Device
Platform
Aspect
Function
Aspect
Configuration
Aspect

16. Meta-Modeling Example FB Model in GME ECC
A Basic FB for extracting basic tokens in the G-Code

17. Model Transformation (Semantics Domain)
Integrating Semantics By Model Transformation: Semantics Anchoring
Theoretical Base:
DSML: L = A, C, S, MC, MS
SUi : Li = Ai , Ci , Si , Mci ,MSi
DSML
semantic unit SUi
MS = MSi ◦ MA C A MC S MS C A
MCi Si
MSi MA MT
A series of MoCs are
selected as the semantics units
Domain Model
MoC
BFB
FSM or TA
FBN
DE or TA
Task
PN or TA
Semantics Anchoring
Semantics of L is anchored to the SUi semantic domain of the Li modeling language: MS = MSi ◦ MA

18. Model Transformation (Semantics Domain)
Integrating Semantics By Model Transformation: Semantics Anchoring
Implementation Based on Graph Rewriting :
GME Platform
GReAT Tool
DSML
Metamodel
(A)
Model
Trans. Rules
(MA)
SUi
Metamodel
(Ai) MC
Generate
Instance
Domain Model
(C)
Trans. Engine
(MT)
Semantic Model
(Ci)
GReAT : Graph Rewriting And Transformation

19. Model Transformation (Semantics Domain)
Trans. Rules Definition in the GReAT Tool: From DSML to Ptolemy MoCs PN DE
Extended FSM

20. Model Transformation (Semantics Domain)
Transformation Case: From DSML to Ptolemy MoCs
Dst. MoCs
Src. Models

21. Model Transformation (Semantics Domain)
Transformation Case: From DSML to UPPAAL MoCs
Dst. MoCs
Src. Models
FBN
FB_CALC
FB_DEV
FB_INT

22. Outline Motiviation Solution: Model-Integrated Computing
Motion Controller in Modern Manufacuring Environment
Solution: Model-Integrated Computing
IEC Based Domain-Specific Modeling Language
DSML Design Environment
Meta-Modeling (Syntax Domain)
Model Transformation (Semantics Domain)
DSML Execution Environment
Domain-Independent Execution Environment
Domain-Specific Extension
Case Study
Conclusions

23. DSML Execution Environment
The environement is comprised of:
a domain-independent IEC execution environment,
an extended framework for the motion control domain.
Features of our execution environment
written in ANSI C : portability, efficiency;
extension of priority-based event connection: enhanced determinacy;
multiple execution models integrated;
dynamically extendable type library.

24. DSML Execution Environment
The overall architecture (inspired by FORTE)
Device Log
Manage Resource
Extern Event
Manager
FB Chain
Executor
Algorithms
Layer
Interrupt-Handling
IEC61499 Function Block Runtime Environment for Motion Control
Operating System & Device Specific Hardware
Type Libs
PLCopen FBs
Resources
IEC61499 FBs
User-defined FBs SR
SVR
MGR
START FB
Automation Control Res. 1
SIFB
Automation Control Res. n
Automation …
PLC Runtime Resource
Control
Motion Control Resource
Control Law
Trajectory Planning
Kinematics
Axes Object
Others
Communication Interface
Process Interface
Memory
Hardware
Abstraction
Physical
Timer
XML Parser & C-JIT

25. DSML Execution Environment
Domain-Independent IEC Execution Environment
Implementation of the reference models in the standard
device model, resource model, FB model,…;
Dynamically extendable FB type library
integration of an XML parser and a C language interpreter
only supported in the non-realtime platform
Priority-based event connection
priority is assigned in the design phase ;
implemented using binary-heap based priority queue;
Explicitly separate the concrete execution model from FB network
a resource model contains one kind of execution model for specifying the scheduling policy of the FB network in the resource model;
dynamic information of FB is contained in the execution model ;

26. DSML Execution Environment
Domain-Specific Extension
High level control
Automation-Control Res 1
SIFB FB
Automation-Control Res n
Automation
Layer …
PLC RT Resource
Control
Motion-Control Resource
Control Law
Trajectory Planning
Kinematics
Axes Object
user-specific automation control layer of motion control system;
usually relative to specific manufacturing processes;
based on PLCopen FB
Low level control
general drive control layer of motion control system;
motion commands interpreting, trajectory planning, drive controlling and PLC execution;
based on algorithm caller FBs developed by our team

27. Outline Motiviation Solution: Model-Integrated Computing
Motion Controller in Modern Manufacuring Environment
Solution: Model-Integrated Computing
IEC Based Domain-Specific Modeling Language
DSML Design Environment
Meta-Modeling (Syntax Domain)
Model Transformation (Semantics Domain)
DSML Execution Environment
Domain-Independent Execution Environment
Domain-Specific Extension
Case Study
Conclusions

28. Case Study 3-Axis Motion Control System G Code Interpreting Circular
FBs for the third axis are omited …
G02 X0 Y0 I20 J20 F60
G Code Interpreting
Circular
Movement

29. Case Study Circular Movement Test
execution graph of the deployed tasks in the MC card device
output set-points of Axis X and Axis Z and the trajectory

30. Conclusions The proposed design environment:
provides IEC based domain specific modeling language;
provides model transformers for anchoring formal semantics of MoCs in the third-party tool (UPPAAL & Ptolemy II);
provides plug-ins for deploying models into the execution environment (by standard management commands)
The proposed execution environment:
supports execution of IEC reference models deployed from the design environment;
allow co-existences of multiple types of execution model;
supports standard management command, includes runtime creation of FB types
The proposed adoption of MIC paradigm:
enables developing motion control system in a model-based pattern;
enhances reusability, reconfigurability, dependability

31. Thank you for your attention