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control software Engineering Approaches for Cyber-Physical Systems: A Systematic Mapping Study

ACM TRANSACTIONS ON CYBER-PHYSICAL SYSTEMS 2025年第1期9卷 1-33页

作者： Banerjee, Amar Choppella, Venkatesh Int Inst Informat Technol Hyderabad India

Cyber-Physical Systems (CPS), robotics, the Internet of Things (IoT), and automotive systems are integral to modern technology. They are characterized by their safety criticality, accuracy, and real-time control requirements. control software plays a crucial role in achieving these objectives by managing and coordinating the operations of various sub-systems. This article presents a novel Systematic Mapping Study (SMS) for control software engineering, analyzing 115 peer-reviewed papers. The study identifies, classifies, and maps existing solutions, providing a comprehensive and structured overview for practitioners and researchers. Our contributions include (1) a unique classification of literature into six research themes-engineering phases, engineering approaches, engineering paradigms, engineering artifacts, target application domains, and engineering concerns;(2) insights into the specificity of approaches to target technologies and phases;(3) the prominence of model-driven approaches for design and testing;(4) the lack of end-to-end engineering support in existing approaches;and (5) the emerging role of agile-based methods versus the dominance of waterfall- based methods. This article's significance lies in its thorough analysis and the high-level mapping of the solution space, offering new perspectives and a detailed roadmap for future research and innovation in control software engineering. The findings will guide advancements and best practices in the field, underscoring the article's impact.

关键词： cyber-physical systems mapping study software engineering control software IoT robotics

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Direct wind control software of the BEPCII Upgrade superconducting magnet

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RADIATION DETECTION TECHNOLOGY AND METHODS 2025年 1-11页

作者： Geng, Jieru Zhu, Yingshun Shen, Chuang Yang, Xiangchen Wu, Yingzhi Chen, Zilin Chen, Wan Bian, Xiaojuan Zhou, Jianxin Chen, Fusan Li, Yuhui Chinese Acad Sci Inst High Energy Phys 19B Yuquan Rd Beijing 100049 Peoples R China Univ Chinese Acad Sci 19A Yuquan Rd Beijing 100049 Peoples R China

Purpose The BEPCII Upgrade (BEPCII-U) project features a combined superconducting magnet with a higher-magnetic-field gradient to enhance collision energy. The superconducting quadrupole magnet (SCQ) within this project utilizes direct winding technology to wind serpentine coils, ensuring a stable, precise, and complete it efficiently within the specified time. Furthermore, considering the future demand for direct winding technology for diversified coil shapes in superconducting magnet projects, it is necessary to develop a new type of multi-shaped winding control software to address the challenges posed by complex winding tasks. Methods The direct wind control software consists of two core modules: the graphics user interface module and the computerized numerical control module, aiming to provide an intuitive and user-friendly operating platform that allows users to easily control the winding machine. Result Through simulation testing, it has been confirmed that this software accurately winds various superconducting coil structures, including complex multi-shaped and multi-functional designs. Utilizing this winding control software, we successfully completed the winding task for the coil of the combined superconducting magnet using the winding machine. Further low-temperature magnetic field measurements indicate that the magnetic field performance of the wound SCQ magnet fully complies with the standards of the BEPCII-U project, demonstrating the software's effectiveness in practical applications. Conclusion The development and application of this software fill a crucial gap in China's technology for producing superconducting magnets using direct winding methods, providing strong technical support for the development of accelerator engineering in China.

关键词： BEPCII Upgrade Superconducting quadrupole magnet Direct wind control software CEPC

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control software with supporting features to enhance the quality of tactile feedback

Control software with supporting features to enhance the qua...

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17th International Conference on Mechatronics Technology

作者： Hergenhan, Jan Mehrwald, Markus Woern, Heinz Karlsruhe Inst Technol Inst Anthropomat & Robot Intelligent Proc Control & Robot IPR D-76021 Karlsruhe Germany Paracelsus Med Univ Inst Res & Dev Adv Radiat Technol Karlsruhe Germany

Tactile displays are devices for cutaneous stimulation to be integrated in haptic feedback systems e.g. in robot-assisted minimally invasive surgery. In general, there are severely limited in performance due to the necessary small size. In this work, we have developed a control software with the goal to allow simple hardware to present sensible tactile information to the user. For the development and evaluation of the software including various features to improve tactile feedback, a tactile display with twelve servo-driven pins was used. With the pins moving upwards and downwards, height maps can be presented to the user's finger. The feedback system runs at a frequency of 50 Hz which generates the sensation of a fluid movement. The supporting features include a simulation of shear forces which give the user information on the movement direction of the sensor. A smoothing algorithm was implemented to prevent jerky pin movements. High effort was put in the generation of well distinguishable vibration patterns. These serve to enhance the presentation of the height maps or even allow a second layer of information. In an evaluation series, the control software and the support functions were extensively tested. The users were capable of distinguishing differences in height as low as 0.05 mm or differences in width smaller than the pin spacing. The task to find an invisible object only with the help of different vibration patterns was solved with great success. In a practical test, the users had to pursuit invisible paths standing out from the surroundings for 1 mm and less using the mouse relying only on tactile feedback. The users showed very good performance here with each user finishing every part of the test. This leads to the conclusion that our control software is an appropriate mean to create sensible tactile feedback even with limited hardware. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Tactile feedback Tactile display control software Simulation of shear forces Vibration patterns

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control software for the AO modules of the AOF project 5

Control software for the AO modules of the AOF project

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Conference on software and Cyberinfrastructure for Astronomy V

作者： Kiekebusch, M. Argomedo, J. Zins, G. Baksai, P. Duhoux, P. Soenke, C. Calderone, G. Strobeleb, S. Urrutia, J. Comin, M. La Penna, P. Kolb, J. Paufique, J. Oberti, S. Madec, Y. Arsenault, R. European Southern Observ Karl Schwarzschild Str 2 D-85748 Garching Germany European Southern Observ Cerro Paranal S-N Antofagasta Chile INAF Osservatorio Astron Trieste V Tiepolo 11 I-34143 Trieste Italy

ISBN: (数字)9781510619685

ISBN: (纸本)9781510619685

The Adaptive Optics Facility (AOF) is one of the most important ESO projects developed for the VLT programme in the last years. The AOF, currently still under commissioning, brings built-in AO capabilities (GLAO and LTAO) to one of the VLT 8m Telescopes (Yepun) that is now equipped with a deformable secondary mirror (DSM), four lasers guide stars (4LGSF) and two AO modules: GRAAL for the HAWK-I infrared imager and GALACSI for the MUSE 3D spectrograph. This paper describes the main aspects of the software responsible for the control and monitor of the two AO modules, as well as for the coordination of subsystems like the instruments and the telescope. Furthermore details of the strategy followed to minimize the impact on configuration control associated to several commissioning periods interleaved with normal operations will be given. The control software package consist of a set of modules based on the VLT Instrumentation Framework and on the VLT platform for AO Real-Time Applications (SPARTA). We will present the software and control design choices that have contributed to the successful commissioning and science verification of GALACSI Wide Field Mode (WFM) and the first verifications of GRAAL tip/tilt free mode covering the control of challenging devices such as the GRAAL Co-rotator or the GALACSI visible Field Selector together with the innovative and flexible implementation of the AO acquisition sequence and its seamless integration to the instrument observations, the handling of secondary loops and the development of health-check and commissioning scripts (templates) that automated the verification of the different observing modes.

关键词： VLT control software Adaptive Optics Instruments

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control software for Honeycomb Mirrors 6

Control Software for Honeycomb Mirrors

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Conference on software and Cyberinfrastructure for Astronomy VI held as Part of SPIE Astronomical Telescopes and Instrumentation Conference

作者： Ranka, Trupti Ford, John M. Ashby, David S. Giant Magellan Telescope Org Pasadena CA 91107 USA Univ Arizona Steward Observ Tucson AZ USA

ISBN: (纸本)9781510636927

Several large telescopes with light weighted honeycomb mirrors have been commissioned in the last few decades. The control software for a honeycomb mirror is generally implemented by directly referring to legacy source code of previous generation telescopes. This approach can hinder clear development and improvement of control software for future telescopes with honeycomb mirrors. Hence in this paper the core software functionalities for the control of the honeycomb mirror are presented. We provide motivation for these functionalities which then leads to improvement of some of the core software control routines. We give a detailed description of support system software. For the thermal control system, an overview is provided for some key software functions. The description is independent of the software development process and environment imposed by a particular observatory. Hence, the software description provided in this paper can be used for software development of any honeycomb mirror control system.

关键词： control System control software Honeycomb mirrors

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control software for OSIRIS: an infrared integral-field spectrograph for the Keck adaptive optics system

Control software for OSIRIS: an infrared integral-field spec...

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Conference on Advanced software, control and Communication Systems for Astronomy

作者： Weiss, JL Barczys, M Larkin, JE Honey, A McElwain, MW Gasaway, TM Krabbe, A Univ Calif Los Angeles Dept Phys & Astron Los Angeles CA 90095 USA

ISBN: (纸本)0819454281

OSIRIS is an infrared integral-field spectrograph built for the Keck AO system. Integral-field spectrographs produce very complicated raw data products, and OSIRIS is no exception. OSIRIS produces frames that contain up to 4096 interleaved spectra. In addition to the IFU capabilities of OSIRIS, the instrument is equipped with a parallel-field imager to monitor current AO conditions by imaging, an off-axis star and evaluating its PSF. The design of the OSIRIS software was driven by the complexity of the instrument, switching the focus from simply controlling the instrument components to targeting the acquisition of usable scientific data. OSIRIS software integrates the planning, execution, and reduction of observations. An innovation in the OSIRIS control software is the formulation of observations into 'datasets' rather than individual frames. Datasets are functional groups of frames organized by the needs and capabilities of the data reduction software (DRS). A typical OSIRIS dataset consists of dithered spectral observations, coupled with the associated imaging data from the parallel-field AO PSF imager. A Java-based planning tool enables 'sequences' of datasets to be planned and saved both prior to and during observing sessions. An execution client interprets these XML-based files, configures the hardware servers for both OSIRIS and AO, and executes the observations. The DRS, working on one dataset of raw data at a time, produces science-quality data that is ready for analysis. This methodology should lead to superior observational efficiency, decreased likelihood of observer error, minimized reduction time, and therefore, faster scientific discovery.

关键词： control software observation planning astronomical instrumentation integral-field spectroscopy data acquisition

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control software and user interface for the Canarias Infrared Camera Experiment (CIRCE)

Control software and user interface for the Canarias Infrare...

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Conference on Ground-Based and Airborne Instrumentation for Astronomy

作者： Marin-Franch, Antonio Eikenberry, Stephen S. Charcos-Llorens, Miguel V. Edwards, Michelle L. Varosi, Rank Hon, David B. Raines, Steven N. Warner, Craig D. Rashkin, David Univ Florida 211 Bryant Space Sci Ctr Gainesville FL 32611 USA

ISBN: (纸本)0819463345

The Canarias InfraRed Camera Experiment (CIRCE) is a near-infrared visitor instrument for the 10.4-meter Gran Telescopio Canarias (GTC). This document shows CIRCE software. It will have two major functions: instrument control and observatory interface. The instrument control software is based on the UFLIB library, currently used to operate FLAMINGOS-1 and T-ReCS (as well as the CanariCam and FLAMINGOS-2 instruments under development in the University of Florida). The software interface with the telescope will be based on a CORBA server-client architecture. Finally, the user interface will consist of two java-based interfaces for the mechanism/detector control, and for quick look and analysis of data.

关键词： near infrared camera control software user interface

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control software with supporting features to enhance the quality of tactile feedback

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MECHATRONICS 2015年 29卷 119-128页

关键词： Tactile feedback Tactile display control software Simulation of shear forces Vibration patterns

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Enabling control software generation by using mechatronics modeling primitives

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ADVANCED ENGINEERING INFORMATICS 2012年第2期26卷 196-206页

作者： Foeken, M. J. Cabrera, A. A. Alvarez Voskuijl, M. van Tooren, M. J. L. Delft Univ Technol Fac Aerosp Engn NL-2629 HS Delft Netherlands Delft Univ Technol Fac Mech Maritime & Mat Engn NL-2628 CD Delft Netherlands

Mechatronic systems are characterized by the synergetic integration of mechanic, electronic, software and control design aspects. The development of control software requires data and information from all design domains in order to create the required integrated functionality. This paper proposes a method that combines function modeling and multi-domain modeling primitives to generate control software automatically. An architecture model, based on the Function-Behavior-State modeling paradigm, provides the decomposition and flow of both functionality and implementation, which serves as input to a knowledge-based engineering application. The control software is subsequently extracted from a virtual product model composed of instantiated modeling primitives. A case study of a mobile robot shows how for a specific application the modeling are defined and how a high-level function model for an environment mapping mission is translated into directly implementable software code. This approach could be extended to real-life mechatronic products, and will improve consistency and reduce development time and cost. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： control software Knowledge-Based Engineering Mechatronics

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MOO: An architectural framework for runtime optimization of multiple system objectives in embedded control software

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JOURNAL OF SYSTEMS AND software 2013年第10期86卷 2502-2519页

作者： de Roo, Arjan Sozer, Hasan Bergmans, Lodewijk Aksit, Mehmet Univ Twente NL-7500 AE Enschede Netherlands Ozyegin Univ Istanbul Turkey

Today's complex embedded systems function in varying operational conditions. The control software adapts several control variables to keep the operational state optimal with respect to multiple objectives. There exist well-known techniques for solving such optimization problems. However, current practice shows that the applied techniques, control variables, constraints and related design decisions are not documented as a part of the architecture description. Their implementation is implicit, tailored for specific characteristics of the embedded system, tightly integrated into and coupled with the control software, which hinders its reusability, analyzability and maintainability. This paper presents an architectural framework to design, document and realize multi-objective optimization in embedded control software. The framework comprises an architectural style together with its visual editor and domain-specific analysis tools, and a code generator. The code generator generates an optimizer module specific for the given architecture and it employs aspect-oriented software development techniques to seamlessly integrate this module into the control software. The effectiveness of the framework is validated in the context of an industrial case study from the printing systems domain. (C) 2013 Elsevier Inc. All rights reserved.

关键词： Architectural framework Multi-objective optimization Runtime adaptation Embedded systems control software

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