Real Time Programming 1988 (eBook)

Front Cover 1
Real Time Programming 1988 4
Copyright Page 5
Table of Contents 8
IFAC WORKSHOP ON REAL TIME PROGRAMMING 1988 6
PART 1: FORMAL SPECIFICATION 10
CHAPTER 1. CORRECTNESS VERIFICATION OFREAL-TIME PROGRAMS 10
1. INTRODUCTION 10
2. PROCESS AND CORRECTNESS 10
3· CTOEUSTPALBEIDL IPTRYO CETSHSE OARENMD LOCAL 11
4. CORRECTNESS VERIFICATION 12
5.ECXOAOMPPELREA TI-N GS YSRTOEBMO TSOP 13
5· FINAL REMARKS 14
REFERENCES 14
LOTOS BASED DERIVATION METHODOLOGYIN THE PRODAT PROJECT 16
1 Introduction 16
2 Analysis of Project DevelopmentPhases 17
3 Implementation 18
4 Testing 19
5 Conclusions 19
THE CREATIVE STEP IN DESIGNINGREAL-TIME SOFTWARE 24
INTRODUCTION 24
THE SOFTWARE DESIGN PROCESS ININDUSTRIAL PRACTICE 24
METHODICAL SUPPORT FORSOFTWARE DESIGN 27
JOINING ALL DESIGN GUIDELINES AND EXPERIENCEINTO ONE SET OF RULES IN ANEXPERT SYSTEM 28
REFERENCES 28
APPLYING THE PRINCIPLE OF SEPARATIONOF CONCERNS IN SOFTWAREDEVELOPMENT 30
INTRODUCTION 30
EXAMPLE 1: COUPLING BETWEENMODUL 31
EXAMPLE 2: ORGANISING CASEANALYSES 33
EXAMPLE 3: CHOOSING NAMES INPROGRAMS 35
CONCLUSION 36
REFERENCES 36
SUPPORTING TOOL FOR OBJECT ORIENTEDDESIGN OF REAL TIME APPLICATIONS 38
INTRODUCTION 38
OBJECT ORIENTED DESIGN METHODOLGY 39
PRESENTATION OF THE FUNCTIONALITIES OFSTOOD 40
PRESENT AND FUTURE 42
REFERENCES 42
PART 2: LANGUAGES FOR REAL TIME PROGRAMMING 44
ADDITIONAL PEARL LANGUAGE STRUCTURES FOR THE IMPLEMENTATION OF RELIABLE AND INHERENTLY SAFE REAL-TIME SYSTEMS 44
INTRODUCTION 44
PROPOSAL OF ADDITIONAL LANGUAGE ELEMENTSFOR PEARL 45
ADDITIONAL OPERATING SYSTEM FEATURES TOBE SUPPORTED BY PEARL 46
SOFTWARE VERIFICATION FEATURES 47
SUPPORT OF THE ADDITIONAL PEARL LANGUAGE STRUCTURES BY THE REAL-TIME OPERATING SYSTEM PORTOS 48
SYNOPSIS OF THE ADDITIONAL 
 
49 
CONCLUSION 51
REFERENCES 51
THE USE OF STANDARD SOFTWARE IN REAL TIME PROGRAMMING: AN EXAMPLE DEMONSTRATING THE INTEGRATION OF ADA, ORACLE AND GKS 52
1. Parroebal enme t woOrpke ration guidance for a
2. Building blocks of the solution:data-base, decision-support system andman-machine interface 53
3. Selection of standard software ADA, ORACLS and GKS 53

PART 3: SPECIFICATIONS 60
SPECIFICATION, DESIGN AND MODULA-2 IMPLEMENTATION OF A LOW COST INDUSTRIAL CONTROL SYSTEM 60
INTRODUCTION 60
SPECIFICATIONS PHASE 60
DESIGN PHASE 63
IMPLEMENTATION PHASE 65
CONCLUSIONS 65
REFERENCES 65
MICROPROCESSOR BASED DEVELOPMENT TOOL - DESIGN AND REALIZATION OF SISO CONTROLLERS 66
BACKGROUND: THE LOW-END CONTROL PROBLEMS 66
THE HARDWARE STRUCTURE OF A LOW-LEVEL SYSTEM 66
AN EXPERIMENTAL FIELD UNIT 67
SYSTEM COMMUNICATIONS 68
APPLICATION SOFTWARE IN FUN 68
THE DEVELOPMENT TOOL - SOFTWARE AND APPLICATION ASPECTS 68
EXAMPLE 70
CONCLUSIONS 71
REFERENCES 71
A REAL-TIME SYSTEM FOR ROBOT MANIPULATOR INVERSE DYNAMICS COMPUTATION 72
INTRODUCTION 72
A HYBRID COMPUTATIONAL ALGORITHM 73
IMPLEMENTATION OF THE NEW COMPUTATIONAL ALGORITHM 73
PARALLEL COMPUTATION 74
DISCUSSION 75
CONCLUSION 75
REFERENCES 75
PART 4: OPERATING SYSTEM AND IMPLEMENTATION ASPECTS 78
A MODEL FOR A HARD REAL TIME SYSTEM EXECUTIVE 78
INTRODUCTION 78
THE REACTIVE SYSTEMS MODEL 79
EXAMPLES 80
IMPLEMENTATION OF THE REACTIVE MODEL 81
CONCLUSION 82
REFERENCES 82
APPENDIX : A sample of RSEX system calls. 82
THE SPY: A MECHANISM FOR SAFE IMPLEMENTATION OF HIGHLY CONCURRENT SYSTEMS 84
INTRODUCTION 84
GLOBAL APPROACH 84
CONCEPTS AND TECHNIQUES FOR THE OBSERVATION OF THE CONTROL PART: ABRIEF PANORAMA 85
THE SPY: AN INTEGRATED OBSERVER 86
ON THE IMPLEMENTATION OF THE SPY 87
COMENTS ON A PARTICULAR IMPLEMENTATION OF THE SPY 88
PERFORMANCE EVALUATION AND EXPERIENCE 89
REFERENCES 90
PART 5: ROUND TABLE DISCUSSIONS 92
FORMAL SPECIFICATION 92
PROGRAMMING LANGUAGES FOR REAL-TIME APPLICATIONS 94
AUTHOR INDEX 96