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A large number of robotic software have been developed but cannot or can hardly interoperate with each other because of their dependencies on specific hardware or software platform is hard-wired into the code. Consequently, robotic software is hard and expensive to develop because there is little opportunity of reuse and because low-level details must be(More)
A specific ontology is proposed in the scope of the development of a platform devoted to exchanges between academics and industrials of the robotic domain. This paper presents the tools used for knowledge elicitation, the concepts and properties linked with control architecture, the use of the resulting ontology for description of some scenarios and the(More)
This paper presents a System level Model Driven Architecture (MDA) approach for power estimation of real time operating system (RTOS) communication and synchronization services at early design phases.The approach integrates the Architecture Analysis and Design Language (AADL) in the design flow. We describe how to extend the language for modeling RTOS(More)
This paper presents a methodology that permits to estimate the power and energy consumption of embedded applications. Estimation is performed from high-level specifications of the complete system. Power models are built from physical measurements on the hardware platform. Operating system's services are modeled: scheduler/timer interrupt, inter-process(More)
This paper presents a multi-layer power and energy estimation approach for embedded applications and operating systems. The multi-layer methodology is an incremental approach where we consider that energy can be summed over the hyper period of the real-time system. At the first layer, we start by estimating energy and power consumption of standalone tasks.(More)
—fUML and Alf are two OMG standards dealing with executable modeling in UML. fUML focuses on semantic aspects, while Alf focuses on syntax. Papyrus (the UML/SysML modeler of the Eclipse foundation) provides tool support for these two standards. The purpose of this article is to provide the community with feedback and lessons learned by the Papyrus team(More)
Robotic systems are a typical example of complex systems. Their design involves a combination of different technologies, requiring a multi-disciplinary approach. This is particularly challenging when a robotic system is required to interact either with humans or other entities within its environment. To tackle this complexity, we propose a design and(More)
Model Driven Engineering (MDE) is a promising approach that eases the design, development and verification of Service-Oriented Applications. However, despite the importance of providing verification mechanisms, current MDE tool implementations lack methodologies of consistency verification at design and runtime levels. This paper proposes a two-step(More)
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