Modelling and simulation of robotic systems using sysml

Mohd A A Rahman, Makoto Mizukawa, Danai Phaoharuhansa, Akira Shimada

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper proposes a modelling and simulation framework to assist robotic systems design from the viewpoints of systems and control engineering. Designing such systems requires proper design and simulation tools. From control engineers perspectives, the design of control dynamic systems works well using a model-based design (MBD) approach with a simulation tool, e.g., Matlab/Simulink but they lack understanding of how to provide formal specifications, which leads to unmanageable system specifications. In contrast, systems engineers are capable of preparing those specifications in a most feasible way from the conceptual design to the detailed design. Subsequently, system designs and specifications that usually expressed using systems modelling language (SysML) are disjoint with executable simulations employed in Matlab/Simulink. The objective of this paper is to achieve executable simulations in the Matlab's Simulink extension based on SysML's descriptive designs and specifications. To achieve that, we consider a design integration and synchronization strategy, and we use a mobile robotic system (MRS) to establish the proposed framework.

Original languageEnglish
Pages (from-to)152-161
Number of pages10
JournalInternational Journal of Modelling and Simulation
Volume33
Issue number3
DOIs
Publication statusPublished - 2013

Fingerprint

Robotics
Specifications
Systems analysis
Engineers
Conceptual design
Synchronization
Dynamical systems

Keywords

  • Robotic systems
  • Simulink
  • SysML
  • System-level modelling and simulation

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software
  • Modelling and Simulation
  • Mechanics of Materials
  • Electrical and Electronic Engineering

Cite this

Modelling and simulation of robotic systems using sysml. / Rahman, Mohd A A; Mizukawa, Makoto; Phaoharuhansa, Danai; Shimada, Akira.

In: International Journal of Modelling and Simulation, Vol. 33, No. 3, 2013, p. 152-161.

Research output: Contribution to journalArticle

Rahman, Mohd A A ; Mizukawa, Makoto ; Phaoharuhansa, Danai ; Shimada, Akira. / Modelling and simulation of robotic systems using sysml. In: International Journal of Modelling and Simulation. 2013 ; Vol. 33, No. 3. pp. 152-161.
@article{97d520ae8cc34c00971e978f8ef30df8,
title = "Modelling and simulation of robotic systems using sysml",
abstract = "This paper proposes a modelling and simulation framework to assist robotic systems design from the viewpoints of systems and control engineering. Designing such systems requires proper design and simulation tools. From control engineers perspectives, the design of control dynamic systems works well using a model-based design (MBD) approach with a simulation tool, e.g., Matlab/Simulink but they lack understanding of how to provide formal specifications, which leads to unmanageable system specifications. In contrast, systems engineers are capable of preparing those specifications in a most feasible way from the conceptual design to the detailed design. Subsequently, system designs and specifications that usually expressed using systems modelling language (SysML) are disjoint with executable simulations employed in Matlab/Simulink. The objective of this paper is to achieve executable simulations in the Matlab's Simulink extension based on SysML's descriptive designs and specifications. To achieve that, we consider a design integration and synchronization strategy, and we use a mobile robotic system (MRS) to establish the proposed framework.",
keywords = "Robotic systems, Simulink, SysML, System-level modelling and simulation",
author = "Rahman, {Mohd A A} and Makoto Mizukawa and Danai Phaoharuhansa and Akira Shimada",
year = "2013",
doi = "10.2316/Journal.205.2013.3.205-5797",
language = "English",
volume = "33",
pages = "152--161",
journal = "International Journal of Modelling and Simulation",
issn = "0228-6203",
publisher = "ACTA Press",
number = "3",

}

TY - JOUR

T1 - Modelling and simulation of robotic systems using sysml

AU - Rahman, Mohd A A

AU - Mizukawa, Makoto

AU - Phaoharuhansa, Danai

AU - Shimada, Akira

PY - 2013

Y1 - 2013

N2 - This paper proposes a modelling and simulation framework to assist robotic systems design from the viewpoints of systems and control engineering. Designing such systems requires proper design and simulation tools. From control engineers perspectives, the design of control dynamic systems works well using a model-based design (MBD) approach with a simulation tool, e.g., Matlab/Simulink but they lack understanding of how to provide formal specifications, which leads to unmanageable system specifications. In contrast, systems engineers are capable of preparing those specifications in a most feasible way from the conceptual design to the detailed design. Subsequently, system designs and specifications that usually expressed using systems modelling language (SysML) are disjoint with executable simulations employed in Matlab/Simulink. The objective of this paper is to achieve executable simulations in the Matlab's Simulink extension based on SysML's descriptive designs and specifications. To achieve that, we consider a design integration and synchronization strategy, and we use a mobile robotic system (MRS) to establish the proposed framework.

AB - This paper proposes a modelling and simulation framework to assist robotic systems design from the viewpoints of systems and control engineering. Designing such systems requires proper design and simulation tools. From control engineers perspectives, the design of control dynamic systems works well using a model-based design (MBD) approach with a simulation tool, e.g., Matlab/Simulink but they lack understanding of how to provide formal specifications, which leads to unmanageable system specifications. In contrast, systems engineers are capable of preparing those specifications in a most feasible way from the conceptual design to the detailed design. Subsequently, system designs and specifications that usually expressed using systems modelling language (SysML) are disjoint with executable simulations employed in Matlab/Simulink. The objective of this paper is to achieve executable simulations in the Matlab's Simulink extension based on SysML's descriptive designs and specifications. To achieve that, we consider a design integration and synchronization strategy, and we use a mobile robotic system (MRS) to establish the proposed framework.

KW - Robotic systems

KW - Simulink

KW - SysML

KW - System-level modelling and simulation

UR - http://www.scopus.com/inward/record.url?scp=84890365634&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84890365634&partnerID=8YFLogxK

U2 - 10.2316/Journal.205.2013.3.205-5797

DO - 10.2316/Journal.205.2013.3.205-5797

M3 - Article

VL - 33

SP - 152

EP - 161

JO - International Journal of Modelling and Simulation

JF - International Journal of Modelling and Simulation

SN - 0228-6203

IS - 3

ER -