# NOVA Mobility Assistive System: Developed and Remotely Controlled with IOPT-Tools
## 7 Conclusions  
A set of NWB prototypes, with the proposed architecture, was developed during this work while using the proposed model-driven development approach and tools, online available at [[http://gres.uninova.pt/IOPT-Tools/](http://gres.uninova.pt/IOPT-Tools/)]([http://gres.uninova.pt/IOPT-Tools/](http://gres.uninova.pt/IOPT-Tools/)). The developed NWB prototypes interact with each other, with NWCs, and with remote control and monitoring systems. As far as we know, no other work has proposed a similar mobility assistive system and the use of design automation tools to support its development, which simultaneously: (1) enable the specification of the NWB behavior through graphical models and use them to automatically generate the simulation, validation, and implementation codes; (2) support not only NWBs simulation, but their verification through model-checking tools; and, (3) ensure that each part of the NWBs, which were specified by models, can be remotely monitored and controlled. The use of model-checking based verification tools and automatic code generators can ensure that the NWBs' implementation code conforms to certain desired proprieties, avoiding specification and manual codification errors. This is a main benefit of using the proposed approach and tools. The other major benefit of using this modeling formalism and associated tools is the rapid prototyping of NWBs and the remote operation capabilities without development effort. The interaction between NWBs and NWCs, among NWBs, and between NWBs and RCMS was tested. In summary, at speeds below 100 km/h, all of the tests were 100% successfull, in both simple mode and complete mode, while using a password or not. When tests were carried out at 100 km/h, in simple mode there was still 100% success rate, but some flaws were detected in the complete mode. Thus, with a password, two of the ten tests failed, and without a password, one test failed in the fifteen that were performed. The interaction among NWBs and between NWBs and RCMS was made without failures. Three different low-end computing platforms were used to implement the NWB prototypes. Among the used platforms (ESP8266-01, Raspberry Pi 2, and Raspberry Pi 3), the one with better results was the Raspberry Pi 3. The NWC prototype was implemented in an ESP8266-01. All of the used platforms had integrated antennas and, even so, supported the interaction between NWBs and NWCs moving at speeds up to 100 km/h. High-performance hardware platforms with external antennas would definitely improve the results presented in Section 6. NOVA-MAS can be seen as a complementary system to the crowdsourcing applications presented in the literature review, as well as to the existing smart wheelchairs. With this novel mobility assistive system, the public road users and vehicles (with NWCs) can share their own data (current location, speed, etc.) to infrastructures (with NWBs) and obtain, from infrastructures, updated information about their environment, which can alert users to unexpected events and prevent accidents. Neither crowdsourcing nor smart wheelchairs allow for the dissemination of local and volatile information (information that only matters in that location at that moment) between infrastructures and their users/vehicles. As future work, it will be of interest to extend the IOPT tool framework and study the application of other tools. The IOPT-Tools could be extended, with a new tool, to automatically generate interfaces that support the interaction between the automatically generated NWB processes, and the NWB Python processes that handle the communication. The IOPT-Flow tool framework [77], which was proposed to support and accelerate the development of cyber-physical systems, should also be considered. Conceptualization, F.M., R.C.-R., C.L.-O., E.M., B.A. and L.G. ; Investigation, F.M., R.C.-R., C.L.-O., E.M., B.A. and L.G. ; Methodology, F.M., R.C.-R., C.L.-O. and E.M.; Software, E.M. and B.A. ; Supervision, F.M., R.C.-R. and L.G. ; Validation, E.M. and B.A.