Abstract
The technologies for designing and validating computer-control systems subject to challenging timing and reliability requirements have been advancing slowly. One such type of systems are unmanned aerial vehicle (UAV) control systems. The functional complexity of UAV control systems is steadily increasing. Enabling the design of such complex systems in easily understandable forms that are amenable to rigorous analysis is a highly desirable goal. In this paper, we discuss our experimental application of the Time-triggered Message-triggered Object (TMO) structuring scheme to the design of a UAV control system. The TMO scheme enables high-level structuring together with design-time guaranteeing of accurate timings of various critical control actions with significantly smaller efforts than those required when using lower-level structuring schemes based on direct programming of threads, UDP invocations, etc. An experimental 2-step validation of a UAV control system is also discussed. The first step was to validate the system by use of an environment simulator and then real flight tests were involved only in the second step.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Kim, K.H.: Object Structures for Real-Time Systems and Simulators, pp. 62–70. IEEE Computer Society Press, Los Alamitos (1997)
Kim, K.H.: APIs for Real-Time Distributed Object Programming, pp. 72–80. IEEE Computer Society Press, Los Alamitos (2000)
Kim, K.H., Ishida, M., Liu, J.: An Efficient Middleware Architecture Supporting Time-Triggered Message-Triggered Objects and an NT-based Implementation. In: ISORC, pp. 54–63 (1999)
Kim, H.J., Park, S.H., Kim, J.G., Kim, M.H.: TMO-Linux: A Linux-based Real-time Operating System Supporting Execution of TMOs. In: ISORC (2002)
Koo, T.J., Liebman, J., Ma, C., Sastry, S.: Hierarchical approach for design of multi-vehicle multi-modal embedded software. In: Henzinger, T.A., Kirsch, C.M. (eds.) EMSOFT 2001. LNCS, vol. 2211, Springer, Heidelberg (2001)
Koo, T.J., Liebman, J., Ma, C., Horowitz, B., Sangiovanni-Vincentelli, A., Sastry, S.: Platform-based embedded software design and system integration for autonomous vehicles. Proceedings of the IEEE 91(1), 198–211 (2003)
Sorton, E.F., Hammaker, S.: Simulated flight Testing of an Autonomous Unmanned Aerial Vehicle Using FlightGear. Institute for Scientific Research Inc., Fairmont, WV AIAA-2005-7083
Ippolito, C.: QSS Group, Inc., NASA Ames Research Center, An Autonomous Autopilot Control System Design for Small-Scale UAVs. Internal Report of CMIL in University of Carnegie Mellon: EAV-20051016
Lee, E.A.: Embedded Software – An Agenda for Research. UCB ERL Memorandum M99/63 in University of California at Berkeley
Matczynski, M.J.: A Distributed Embedded Software Architecture for Multiple Unmanned Aerial Vehicles. Master thesis, EECS, MI
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 IFIP International Federation for Information Processing
About this paper
Cite this paper
Park, H., Kim, M.H., Chang, CH., Kim, K., Kim, JG., Kim, DH. (2007). Design and Experimental Validation of UAV Control System Software Based on the TMO Structuring Scheme. In: Obermaisser, R., Nah, Y., Puschner, P., Rammig, F.J. (eds) Software Technologies for Embedded and Ubiquitous Systems. SEUS 2007. Lecture Notes in Computer Science, vol 4761. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75664-4_19
Download citation
DOI: https://doi.org/10.1007/978-3-540-75664-4_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75663-7
Online ISBN: 978-3-540-75664-4
eBook Packages: Computer ScienceComputer Science (R0)