Engineering the Hardware/Software Interface for Robotic ... · Schematic Hardware Architecture with...

Engineering the Hardware/Software Interface for Robotic Platforms - A Comparison of

Applied Model Checking with Prolog and Alloy

Md Abdullah Al MamunChristian BergerJörgen Hansson

Division of Software EngineeringDepartment of Computer Science & Engineering

The 4th Workshop on DSLRob 2013

Tokyo, Japan

Outline

• Problem Domain• Research Questions• Overall Workflow• Prolog Approach• Alloy Approach• Result• Other Observations• Future Work• Summary & Conclusion

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Problem Domain: Sensor Layout

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WE

WE

Wheel Encoders

Problem Domain: DSL Meta-Model• EMF ECORE

Model

• Sensors

• Sensor

Properties

• Configuration

Properties

• Execution

Platform

• Application

Platform

• Unit Types

• Enumerations

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Problem Domain: Solution for a Desired Configuration

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Infrared Steer Motor

Flashing LEDs

left

Flashing LEDs right

BrakingLEDs

Infrared

Pow

er S

uppl

y

LED Board

PandaBoard ES

USBI2C PowerPWM

UART ADC

Infrared

Ultrasonic Ultrasonic Ultrasonic

ESC

STM32F4 Discovery Board

RazorBoard

Camera

PD8 (TX)PD9 (RX)

PC8PC9

PB6 (SCL) PB9(SDA)

PC1 PC4 PC5

Pxy = Connection PIN

P_138P_140

Wheel Encoder Sensor 1

Wheel Encoder Sensor 2

Wheel Encoder Sensor 3

Wheel Encoder Sensor 4 ICU

PB7 PB14 PA1 PA7

P_039

Schematic Hardware Architecture with assigned pinConnection

Problem Domain: Configuration Space

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Configuration space for the pins with more than one use‐case

Total 1,099,126,862,792 configuration possibilities (considering all pins)

Total 14,689,111 configuration possibilities (considering pins with multiple usage)

Finding a feasible/all possible/best pin assignment configuration for the interface board

Model checking the domain of configuration with Prolog & Alloy

Basic Representation Model

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Visualization of the graph G = {N,E,A}

A concrete configuration is represented by a  path P from nB to nE with |P| < |N|

Problem Domain: Complexity

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Total 1,099,126,862,792 configuration possibilities (considering all pins)

Total 14,689,111 configuration possibilities (considering pins with multiple usage)

Research Questions

• To determine a feasible, all possible, and the best configuration assignment:– How can Prolog be used to apply model checking on instances

of the domain of possible pin assignment configurations?

– How can Alloy be used to apply model checking on instances of the domain of possible pin assignment configurations?

• Which approach performs quicker compared to the other for the particular use cases?

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Overall Workflow

Alloy Specification

Table

Domain of pin assignment

configurations

Prolog Generator

Systematic enumeration of configuration space by recursive construction

Alloy Generator

Systematic enumeration of configuration space by iteration

Prolog specification- Cost-based mapping - Feasible, all, or best assignments

Meta-modelGraph-based representation

Instance model

AssertionsFeasible, all, or best assignments

Spreadsheet tool.Once per board.

Java.Once per board.

Prolog/Alloy.For each desired configuration.

Tool:Frequency:

1st stage. 2nd stage. 3rd stage.

Prolog Approach

• Consists of two parts– Facts (generated)

config([analog,analog],[[pa1,pa2],7]).

– Inference getConfig(RequiredConfiguration, Pair) :-

msort(RequiredConfiguration, S), config(S, Pair).

allConfigs(RequiredConfiguration, Set) :-setof([Pins,Costs],

getConfig(RequiredConfiguration,[Pins,Costs]), Set).

cheapestConfig(R, Pins, Costs) :-setof([Pins,Costs],getConfig(R, [Pins,Costs]), Set), Set = [_|_],minimal(Set, [Pins,Costs]).

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Alloy Approach

• Instance specification for a pinone sig PA2 extends Pin {} {conntype = ANALOG + SERIAL_TX + ICU + ICUconn_detail = ADC1_IN2 + UART2_TX + TIM2_CH3 + TIM5_CH3cost = 4}

• Generated negated assertion for the desired configuration “ANALOG,ANALOG”.assert ANALOG_ANALOG {all disj p1, p2:Pin |not (ANALOG in p1.conntype &&ANALOG in p2.conntype &&p1.cost.add[p2.cost] < = 3)}check ANALOG_ANALOG

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Pin

ConnDetailConnType Cost

costconntype conn_detail

Alloy meta‐model

Result

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Alloy

Prolog

Alloy

Prolog

Generated specification size

Time to generate specification

Time to load specification

Other Observation

Prolog Alloy

1.7GB  100KB

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Prolog Alloy

2102s (~35min) Less than 1s

Prolog Alloy

347s (~6min) Less than 1s

Future Work

vs. vs.

• Extend the work with other available COTS interface boards (Odroid, Rapsberry, Arduino, etc.)

• How good are the tools wrt. longer configuration length and more pins?

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OptimizationAlgorithm

Model Checker with Higher Order Quantification

Alloy/Prolog

Summary & Conclusion

Prolog performs up to more than 3-times faster to find all possible and best solution

Alloy performs up to more than 3-times faster to find feasible solution and reporting insolvable configurations

Alloy does not directly support higher order quantification but workaround solution is possible

With the considered total number of pins (16) and configuration length (10) both Prolog and Alloy offers practicable solution.

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Thank You