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Gobillot, Nicolas (2016)
Languages: French
Types: Article
Subjects: Robotique, Validation, Temps réel, Architecture, Logiciel, Sûreté, 629.8, Robotics, Real-time, Software, Safety
Un système robotique est un système complexe, à la fois d’un point de vue matériel et logiciel. Afin de simplifier la conception de ces machines, le développement est découpé en modules qui sont ensuite assemblés pour constituer le système complet. Cependant, la facilité de conception de ces systèmes est bien souvent contrebalancée par la complexité de leur mise en sécurité, à la fois d’un point de vue fonctionnel et temporel. Il existe des ensembles d’outils et de méthodes permettant l’étude d’ordonnançabilité d’un système logiciel à base de tâches. Ces outils permettent de vérifier qu’un système de tâches respecte ses contraintes temporelles. Cependant ces méthodes d’analyse considèrent les tâches comme des entités monolithiques, sans prendre en compte la structure interne des tâches, ce qui peut les rendre trop pessimistes et non adaptées à des applications robotiques. Cette étude consiste à prendre en compte la structure interne des tâches dans des méthodes d’analyse d’ordonnançabilité. Cette thèse montre que le découpage de tâches monolithiques permet d’améliorer la précision des analyses d’ordonnancement. De plus, les outils issus de ces travaux ont été expérimentés sur un cas d’application de robotique mobile autonome. A robot is a complex system combining hardware and software parts. In order to simplify the robot design, the whole system is split in several separated modules. However, the complexity of the functional and temporal validation to improve the safety counterweights the robot design simplicity. We can find scheduling analysis tools for task-based software. These tools are used to check and validate the schedulability of the tasks involved in a software, run on a specific hardware. However, these methods considers the tasks as monolithic entities, without taking into account their internal structure. The resulting analyses may be too much pessimistic and therefore not applicable to robotic applications. In this work, we have modeled the internal structure of the tasks as state-machines and used these state-machines into the schedulability analysis in order to improve the analysis precision. Moreover, the tools developed during this work have been tested on real robotic use-cases.
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