A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach
This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2020/8848776 |
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| author | Ngo Van Hien Van-Thuan Truong Ngoc-Tam Bui |
| author_facet | Ngo Van Hien Van-Thuan Truong Ngoc-Tam Bui |
| author_sort | Ngo Van Hien |
| collection | DOAJ |
| description | This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory. |
| format | Article |
| id | doaj-art-d8850182bb61469eaf217661b9afd560 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-d8850182bb61469eaf217661b9afd5602025-02-03T06:05:41ZengWileyJournal of Advanced Transportation0197-67292042-31952020-01-01202010.1155/2020/88487768848776A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE ApproachNgo Van Hien0Van-Thuan Truong1Ngoc-Tam Bui2School of Transportation Engineering, Hanoi University of Science and Technology, Hanoi 10000, VietnamSchool of Transportation Engineering, Hanoi University of Science and Technology, Hanoi 10000, VietnamSchool of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi 10000, VietnamThis paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.http://dx.doi.org/10.1155/2020/8848776 |
| spellingShingle | Ngo Van Hien Van-Thuan Truong Ngoc-Tam Bui A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach Journal of Advanced Transportation |
| title | A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach |
| title_full | A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach |
| title_fullStr | A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach |
| title_full_unstemmed | A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach |
| title_short | A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach |
| title_sort | model driven realization of auv controllers based on the mda mbse approach |
| url | http://dx.doi.org/10.1155/2020/8848776 |
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