Insystemleveldesign,itisdifficulttoachievea\r\nsystem verification which fulfils the requirements of\r\nvarious stakeholders using only descriptive system\r\nmodels. Descriptive system models using SysML alone\r\nare insufficient for system behaviour verifications and\r\nengineersalwaysuse different simulation tools (e.g., the\r\nMathworks Simulink or Modelica Dymola) to analyze\r\nsystems behaviour. It is a good idea to combine\r\ndescriptive and simulation models. This paper presents\r\nthe development of a collaborative design framework\r\nwhich brings SysML, Simulink, and Simscape profiles\r\nwithin the domain of robotics. A conceptual design\r\nmethod is proposed to support execution models for\r\nsimulation. In brief, the descriptive SysML systemlevel\r\nmodel is interpreted into the systemlevel simulation\r\nmodels (e.g., Simulink and Simscape). We then use a\r\npluginbased model integration technique to keep both\r\nmodels in sync for automatic simulation. A simulation\r\nstudy is performed to evaluate the system. To illustrate\r\nthedesignofthissystem,wepresentasimulatedclosed\r\nloopsystem.
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