Lunar Zebro - Software Design Of The Locomotion Sub-System With The Dezyne Model Driven Development Tool

Master thesis (2018)

Authors

F. Rouwen Electrical Engineering, Mathematics and Computer Science

Contributors

C.J.M. Verhoeven (mentor)
A.J. van Genderen (graduation committee member)
Faculty
Electrical Engineering, Mathematics and Computer Science, Electrical Engineering, Mathematics and Computer Science
Copyright: © 2018 Floris Rouwen
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Published Date

27-08-2018

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

The TU Delft ZEs-Benige RObot (Zebro) project is presented with the opportunity to bring the Zebro concept to the surface of our moon. To maximise the probability of success, the Locomotion Sub-System (LSS) software of Lunar Zebro is developed using a novel model-driven design tool called Dezyne. Dezyne uses a proprietary language to describe systems, perform model checking and execute source code generation. Dezyne is proposed for this thesis as it can improve the quality of the LSS design. This is required because the project is under strict time- and manpower constraints. The goals for this thesis are:
i. Deliver a reliable software design for the Locomotion Sub-System (LSS) of Lunar Zebro.
ii. Deliver a working implementation of the Locomotion Sub-System (LSS) software design on Lunar Zebro’s hardware.
iii. Investigate the advantages and disadvantages of the use of the model-driven software design tool Dezyne.

The current workhorse of the Zebro Project, is a Zebro called DeciZebro. Lunar Zebro builds on the legacy of the design of DeciZebro. The LSS of Lunar Zebro consists of an Locomotion
Controller (LC) and six leg modules. The requirements of the LSS software of Lunar Zebro are derived from the requirements of Lunar Zebro as a whole. These requirements are categorised according an European Space Agency (ESA) standard.

With the help of Dezyne, the system is designed, verified, simulated and integrated into native code. It is found that Dezyne is not suitable for designing the software of the leg modules.
Therefore, the LC consists primarily of generated code, while the leg modules solely contain code developed by hand.

The goals of this thesis are partly reached. An LSS software implementation is delivered with the use of Dezyne. However, the design is lacking a framework in which errors that occur
during operation can be resolved by means of extensive state machining. This is due to time constraints. Additionally, it is unclear if this specific LSS software implementation is more reliable than an implementation that is made without the use of Dezyne. The third goal, listing the advantages and disadvantages of Dezyne, is fulfilled.

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