Model-based Design for Safety Critical Controller
Design with ROS and Gazebo
Michael Naderhirn, Mischa Köpf, Josef Mendler

Background (as I understand it)• Conformity means that a development was done according to safety critical standard
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ISO 26262 – Automotive
DO-178C, DO-330-333 – Aeronautic
IEC62061 – Machinery
If “something bad” happens companies must show that the development was done conforming to therelevant safety critical standard
An independent auditing company helps a company through auditing that the development processes
conform e. g. DO-178C• Certification means that an authority certifies that a development is allowed to be used•••

UAV is allowed to fly into the civil aerospace (e. g. flies according the rules of the air)Autonomous car is allowed to drive on the road (e. g. drives according the rules)
Conformity can be part of the certification• Qualification means that a tool is qualified to be used for safety critical development••

Documentation that a code generator generates correct code – e. g. tests show that the generated code
produces the right and wrong results correctly
An independent auditing company audits the software used by company, the methods to test thesoftware and the documentation

Product Development Cycle
Cost sharing

70-80%

20-30%
Technologyphase

Serialphase

Predevelopmentphase

FeasibilityConcept

TechnologyselectionSystemdesignProof-ofConcept

Prototype

Manualdevelopment
Often notused

Know How after
predevelopment-phaseBasic Design Steps

Validation

Customers wish
(Specifications)Customervalidation

Online Verification

Specification given as
written language andmathematical model

System architectureand function interfaces
System Test Design

Verification

Detailed Design
Test Design

Controller
Synthesis
Integration Testing

HW/SW Integration
Getting it running
Module Testing

Implementation
External Production● Defining the system spec
● Hazard and risk analysis● Determine Safety Integrity Level (SIL)● Define controller structure andnecessary redundancies● Develop tests for the system, subsystemand modules● Develop and test modules● Integrate modules with subsystems and test
● Integrate subsystem with system and test
● Validate system with customer

How to get better?
• New mathematical methods to automize development
process• On- and Offline system verification• Verified deep neural networks• Listen to customer (some important findings)• Development in 90% preferably done on Windows computers• ROS is used in app. 80-90% of prototyping of robotic solutions• SMEs have problems to afford commerical development tools– some stop robotic projects after prototyping• Robotics engineer needs to be a software archithect• Available knowhow and packages should be reusable-> High degree of automation requiredIncremental (Agile) Development

Validation

Customers wish
(Specifications)
Specification given as
written language andmathematical model

Verification

System architectureand function
interfaces

Know How after
predevelopment-phase

Customervalidation

VerificationDetailed Design

Automated
generated tests
Integration Testing

HW/SW Integration
Getting it running
Modul Testing

Implementation
External Production

Agile development of mechatronic systems allows faster time2market

Our Solution - Kontrol• Integrates• ROS / ROS2
• Gazebo• Imports ROS packages and prototypes automatically• Model based design of ROS structure• Software distribution to hardware and automatic configuration• Manual coding or model based design• Allows to add and edit Gazebo world• Scilab connects to ROS network automatically from Windows• Generates Code for ROS (and ROS2)• Independent from simulation environment• Future – Implements an incremental development process forsafety critical controller design for mechatronic systems

Our Solution - Kontrol

Import of ROS Packages

Model-based Design of Controller Structure

Software Distribution and Automatic
Configuration

Manual Coding and Model-based design

Add and Edit Gazebo World

What we want? / What we are looking for?
• We are looking for Beta Testers• Register at kontrol.tech – Beta testing• Will start in Q4/2017

ContactKontrol GmbHDr. Michael Naderhirn
Marienhöhe 254391 Waldhausen
Austria
Email: m.naderhirn@kontrol.tech+43-676-9760483

Kontrol GmbHDr. Josef Mendler
Marienhöhe 254391 Waldhausen
Austria
Email: j.mendler@kontrol.tech+49-175-5738846