1st IFAC Conference on Cyber-Physical & Human-Systems

1st IFAC Conference

December on Cyber-Physical
7-9, 2016. Florianopolis, Brazil& Human-Systems
1st
1st IFAC Conference
IFAC
December Conference on Cyber-Physical
on Cyber-Physical
7-9, 2016. Florianopolis, & Human-Systems
Brazil& Human-Systems
December
December 7-9,
7-9, 2016.
2016. Florianopolis,
Available online at www.sciencedirect.com
Florianopolis, Brazil
Brazil

ScienceDirect
IFAC-PapersOnLine 49-32 (2016) 141–146
Managing
Managing CPS
CPS Complexity:
Complexity: Design
Design
Managing
Managing
Method for CPS
CPS Complexity:
Complexity:
Unmanned Aerial Design
Design
Vehicles
Method
Method for
for Unmanned
Unmanned Aerial
Aerial Vehicles
Vehicles
Method for Unmanned
∗
Aerial Vehicles
∗∗
Fernando S.
Gonçalves ∗ Guilherme V. Raffo ∗∗
Fernando S.
Gonçalves ∗ Guilherme V. Raffo ∗∗
Fernando
Fernando Leandro B.
S.
Gonçalves
S.
Gonçalves Becker ∗∗ V.
∗ Guilherme Raffo ∗∗
Leandro B. Guilherme
Becker ∗ V. Raffo
Leandro B. Becker
Leandro B. Becker ∗
∗
∗ Automation and Systems Department, Federal University of Santa
∗ Automation and Systems Department, Federal University of Santa
Catarina
∗ Automation
Automation and
and(UFSC),
SystemsFlorianópolis,
Systems Department, SC,
Department, 88040-900
Federal
Federal Brazil
University
University of
of Santa
Santa
Catarina (UFSC), Florianópolis, SC, 88040-900 Brazil
(e-mail:Catarina
fernando.goncalves@posgrad.ufsc.br,
Catarina (UFSC), Florianópolis,
(UFSC), SC, leandro.becker@ufsc.br).
Florianópolis, SC, 88040-900 Brazil
88040-900 Brazil
(e-mail:
∗∗ fernando.goncalves@posgrad.ufsc.br, leandro.becker@ufsc.br).
∗∗ Department
(e-mail:
(e-mail: of Electronic Engineering, Federal
fernando.goncalves@posgrad.ufsc.br,
fernando.goncalves@posgrad.ufsc.br, University of Minas
leandro.becker@ufsc.br).
leandro.becker@ufsc.br).
∗∗ Department
Gerais
of Electronic Engineering, Federal
(UFMG), Belo Horizonte, MG,
University of Minas
31340-050 Brazil
∗∗ Department of Electronic Engineering, Federal University of
Department of Electronic
Gerais (UFMG), BeloEngineering,
Horizonte, MG,Federal University
31340-050 of Minas
Brazil Minas
Gerais (UFMG), (e-mail:
Belo
Gerais (UFMG),(e-mail: raffo@ufmg.br)
Horizonte,
Belo Horizonte, MG, 31340-050 Brazil
MG, 31340-050 Brazil
raffo@ufmg.br)
(e-mail: raffo@ufmg.br)
(e-mail: raffo@ufmg.br)
Abstract: Cyber-physical systems (CPSs) consist of complex systems that use an embedded
Abstract: Cyber-physical systems (CPSs) consist of complex systems that use an embedded
computing
Abstract: system,
Abstract: Cyber-physical
Cyber-physicaltypicallysystems
network
systems connected,
(CPSs)
(CPSs) consisttoof
consist ofcontrol
complex
complex an systems
electro-mechanical
systems that use
that use anan device.
embedded
embedded An
computing system, typically network connected, to control an electro-mechanical device. An
Unmanned
computing
computing Aerial Vehicle
system,
system, typically
typically(UAV) network
networkis a typical
connected,
connected, example
to
to of a CPS.
control
control an
an In this paper authors
electro-mechanical
electro-mechanical present
device.
device. An
An
Unmanned Aerial Vehicle (UAV) is a typical example of a CPS. In this paper authors present
aUnmanned
model-driven
Unmanned Aerial
Aerial design
Vehicle
Vehiclemethod
(UAV)
(UAV) devoted
is a for
typical
is a typical the development
example of a of
CPS. UAVs.
In thisSuch
papermethod
authors should
presentbe
a model-driven design method devoted for theexample of a CPS.
development In thisSuch
of UAVs. paper authors
method present
should be
used
a
a by a
model-driven
model-driven multidisciplinary
design method
design method team composed
devoted
devoted for of
the
for the experts
development in aeronautics,
of UAVs. mechanics,
Such method electronics,
should
should be
used by a multidisciplinary team composed of development of UAVs. Such
experts in aeronautics, methodelectronics,
mechanics, be
control
used by
used by systems,
a and embedded
a multidisciplinary
multidisciplinary teamcomputer
team composedsystems.
composed of experts
of experts Thein
in proposed
aeronautics,
aeronautics, method is highly
mechanics,
mechanics, inspired
electronics,
electronics,
control systems, and embedded computer systems. The proposed method is highly inspired
in integrated
control
control systems,
systems, product
and design methods
and embedded
embedded computer
computer typically
systems.
systems.usedThe by proposed
mechanical engineers.
method is However,
is highly inspiredthe
in integrated product design methods typically usedThe by proposed
mechanical method
engineers. highly
However,inspiredthe
proposal
in
in integrated
integrated presented
product
product in this
design
designpaper can
methods
methods be seeing
typically as a
used kindby of specialization
mechanical of
engineers. such methods,
However, as
the
proposal presented in this paper can betypically
seeing asused a kind by ofmechanical
specializationengineers.
of suchHowever,
methods,the as
it relies
proposal
proposal on model-driven
presented
presented in this engineering
paper
in thisengineering can
paper can and and
be focuses
seeing
be seeing as on
a
as on a
kind
a kind specific
of product
specialization
of specialization (UAVs).
of such
of suchTheThe design
methods,
methods, of
as
it relies on model-driven focuses a specific product (UAVs). design as of
UAVs
it reliesrequires
it relies on detailing itengineering
on model-driven
model-driven is aeronautical
engineering and aspects,
and focuses on
focuses theaa related
on specificcontrol
specific product
product system,
(UAVs).
(UAVs). andThe thedesign
The required
design of
of
UAVs requires detailing it is aeronautical aspects, the related control system, and the required
embedded
UAVs
UAVs electronics.
requires
requires detailing
detailing it
it is
is aeronautical
aeronautical aspects,
aspects, the
the related
related control
control system,
system, and
and the
the required
required
embedded electronics.
embedded
embedded electronics.
electronics.
© 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords: Cyber-Physical System (CPS), Unmanned Aerial Vehicle (UAV), Complex Systems
Keywords: Cyber-Physical System (CPS), Unmanned Aerial Vehicle (UAV), Complex Systems
Design,
Keywords:
Keywords: Model-Driven
Cyber-Physical
Cyber-Physical DesignSystem
SystemMethod.(CPS),
(CPS), Unmanned
Unmanned Aerial Aerial Vehicle
Vehicle (UAV),
(UAV), Complex
Complex SystemsSystems
Design, Model-Driven Design Method.
Design,
Design, Model-Driven
Model-Driven Design Design Method.
Method.
1. INTRODUCTION 2008), which are typically used by mechanical engineers.
1. INTRODUCTION 2008), which are typically used by mechanical engineers.
1. INTRODUCTION
1. INTRODUCTION However,
2008),
2008), which
whichthe are
present proposal
typically usedcan
used by be
by seeing as engineers.
mechanical a kind of
However, the are typically
present proposal can mechanical
be seeing as engineers.
a kind of
specialization
However,
However, the of such
present
the present methods
proposal
proposalfor for
canUAV
canUAVbe design.
seeing
be seeing Besides
as
as a kindthe
a kind of
of
Cyber-Physical Systems (CPSs) are characterized by the specialization specialization of such methods design. Besides the
Cyber-Physical Systems (CPSs) are characterized by the aeronautical specialization
aeronautical
aspects,
of
of such
such
aspects,
the mentioned
methods
methods
the
for
for
mentioned
UAV
UAV specialization
design.
design.
specialization
Besides
Besidescomes
the
the
comes
intensive
Cyber-PhysicalinteractionSystems with(CPSs)
the surrounding
are
are characterized environment.
by
by the from
the aeronautical the use aspects,
of model-driven
the design techniques, normally
Cyber-Physical
intensive interaction Systems with(CPSs)
the surrounding characterizedenvironment. aeronautical
from the use aspects, the mentioned
of model-driven mentioned specialization
specialization
design techniques,
comes
comes
normally
CPSs
intensive
intensiveconsist of complex
interaction
interaction with
with systems
the
the typicallyenvironment.
surrounding
surrounding applied to from
environment. adopted the in
usecomputer
of science,
model-driven and
design also by considering
techniques, normallythe
CPSs consist of complex systems typically applied to from adopted the inusecomputer
of model-driven
science, design
and techniques,
also by normally
considering the
control
CPSs
CPSs electro-mechanical
consist
consist of
of complex
complex devices.
systems
systems The design applied
typically
typically of CPSs to
applied is adopted
to control and
in electronics
computer requirements.
science, and also by considering the
control electro-mechanical devices. The design of CPSs is control adoptedand in computer
electronics science, and also by considering the
requirements.
usually
control a multidisciplinarydevices.
electro-mechanical task, which The involves
The design of different
CPSs
CPSs is is control and
control
usually electro-mechanical
a multidisciplinarydevices. task, which design
involvesof different control
The and electronics
reminder electronics
parts of this
requirements.
requirements.
paper are organized as follows.
teams
usually
usually working
a in a
a multidisciplinary collaborative
multidisciplinary task,
task, way way
which
which to properly
involves address
different The reminder parts of this paper are organized as follows.
teams working in a collaborative to involves
properlydifferent
address The Section 2 discusses the related
the
teams
teamsapplication
working
working features
in
in a
a (Lee
collaborative
collaborative and Seshia,
way
way to
to 2010;
properly
properly
the application features (Lee and Seshia, 2010; Alur, 2015). Section
Alur, 2015).
address
address The
Section
reminder
reminder
2
parts
parts
discusses
of
of
the
this
this paper works.
paper
related
are
works.
Sectionas
are organized
organized 3 follows.
details
Sectionas3 follows.
details
the application features (Lee and Seshia, 2010; Alur, 2015). the context
Section that the the
22 discusses
discusses present
the related
relatedworkworks.
is related
works. with.33 Section
Section
Section details
details
the application features (Lee and Seshia,
An Unmanned Aerial Vehicle (UAV) is a typical CPS the 2010; Alur, 2015). the context that the present work is related with. Section
An Unmanned Aerial Vehicle (UAV) is a typical CPS 4the describes
context
context the the
that
that proposed
the present
present activities
work
work is
is
4 describes the proposed activities to design the UAV
to design
related
related with.
with.theSection
UAV
Section
example,
An
An Unmanned
Unmanned and likeAerialmost Vehicle
Aerial CPSs it (UAV)
Vehicle is designis
(UAV) is requires
aa typical
typicaltheCPS
col- 4application.
CPS describes Finally,
the Section
proposed 5 presents
activities to our conclusions.
design the UAV
example, and like most CPSs it is design requires the col- 4application. describes Finally,
the proposed
Sectionactivities
5 presents toourdesign the UAV
conclusions.
laboration
example, between
and like
like most experts
CPSs from isdifferent
it is fields. Through-
design requires
requires the col-
col- application. Finally,
example,
laborationand between most CPSs
experts fromit design
different the
fields. Through- application. Finally, Section Section 55 presents
presents our our conclusions.
conclusions.
out the design
laboration
laboration between
between different
expertstechniques
experts from
from different are fields.
different employed, such
Through-
out the design different techniques are fields.
employed,Through-
such 2. RELATED WORKS
2. RELATED WORKS
as
out
out mathematical
the design modeling
different
the design different of physical
techniques
techniques are phenomena,
employed,
are phenomena,
employed, such for-
such
as mathematical modeling of physical for- 2.
2. RELATED
RELATED WORKS WORKS
mal
as
as models
mathematical of computation,
modeling simulation
of physical of heterogeneous
phenomena, for-
malmathematical
models of computation,modeling ofsimulation physical of phenomena,
heterogeneous for- This section describes some works that present propos-
systems,
mal
mal models
models software
of synthesis,
computation,
of computation, verification,
simulation ofvalidation,
heterogeneous and This section describes some works that present propos-
systems, software synthesis, simulation
verification,ofvalidation,
heterogeneous and This als
This concerning
section
section CPS design.
describes
describes some
some Besides
works
works it ispresent
that
that also discussed
propos-
testing.
systems, In this
software
systems,Insoftware
testing. this way,
way, a solid
synthesis,
synthesis, design method
verification,
verification,
a solid design
is required
validation,
methodvalidation,
is requiredand
in
and
in als als concerning CPS design. Besides it ispresent propos-
also discussed
order to systematize these tasks and to coordinate the some
als approaches
concerning
concerning specifically
CPS
CPS design.
design. used
Besides
Besides to design
it
it is
is aircrafts.
also
also The
discussed
discussed
testing.
testing. In this way, a solid design method is required in some approaches specifically used to design aircrafts. The
order toInsystematize
this way, athese solid tasks
designand method is requiredthe
to coordinate in someproposed
some methods
approaches
approaches aim to
specifically
specifically cover
used the
usedthe to main
design
to design aspects
aircrafts.
aircrafts.of the
The
The
project
order
order to
toteams.
systematize
systematize these
these tasks
tasks and
and to
to coordinate
coordinate the
the proposed methods aim to cover main aspects of the
project teams. application
proposed design,
methods including
aim to the
cover process
the main requirements.
aspects of the
project
project
In teams. a model-driven design method devoted to application design, including the process requirements.the
teams.
this paper,
proposed
application methods
design, aim to
including cover
the the main
process aspects
requirements. of
In this paper, a model-driven design method devoted to A application
methodology design, including
applied the process
to design unmanned requirements.
helicopters
UAVs
In
In thisis
this presented.
paper, The main goal
aa model-driven of the
design proposed
method method
devoted to A methodology applied to design unmanned helicopters
UAVs ispaper,
presented. model-driven
The main goal design
of themethod
proposed devoted
method to A is
A presented
methodology
methodology in Cai
applied
appliedet al.
to (2008).
design
to (2008). This
unmanned
design unmanned methodology
helicopters
helicopters is
is systematizing
UAVs
UAVs is
is presented.
presented. theThe design
main process,
goal
goal of ofcovering
the
the proposed the planning,
method is presented in Cai et al. This methodology is
is systematizing theThe main
design process, coveringproposed method is
the planning, composed
is presented
presented by four
in
in steps:
Cai
Cai et
et the
al.
al. selection
(2008).
(2008). of
This
Thisthe design environ-
methodology
methodology is
is
development,
is
is systematizing
systematizing andthe implementation
design
theimplementationprocess,
design process, covering phases.
covering This
the method
planning,
the planning, composed by four steps: the selection of the design environ-
development, and phases. This method composed
ment,
composed the hardware
by
by four
four components
steps:
steps: the
the selection,
selection
selection of
of the
the integration,
design
design and
environ-
environ-
presents
development,
development, a set of
and
and tasks to be
implementation
implementationperformed by
phases.
phases. the designers
This method in ment, the hardware components selection, integration, and
presents a set of tasks to be performed by theThis method
designers in ment,
the
ment, evaluation
the
the hardware tests.components
hardware However, considering
selection, the application
selection, integration, and
order to represent
presents
presents aa set
set of
of the UAV
tasks
tasks to
to be
be features
performed
performed using
order to represent the UAV features using complementary the
by
by complementary
the
the designers
designers in
in the evaluation tests.components
However, considering integration,
the applicationand
models. of
the this methodology
evaluation
evaluation tests.
tests. to UAVs
However,
However, design,
considering
considering its observed
the
the that
application
application
order
order to represent the UAV features using
to represent the UAV features using complementary of complementary of this methodology to UAVs design, its observed that
models. some
of thischaracteristics
this methodologyare
methodology to not
to UAVs
UAVs covered,
design,
design,such itsas
its aerodynamic
observed that
models.
models. some characteristics are not covered, such asobserved
aerodynamicthat
The proposed method is highly inspired in integrated prod- some structural
some tests
characteristics
characteristicsand mission
are
are not
not specification.
covered,
covered, such
such Besides,
as
as the em-
aerodynamic
aerodynamic
The proposed method is highly inspired in integrated prod- structural tests and mission specification. Besides, the em-
uct
Thedesign
The proposed
proposed methods,
method
method like
is for example
is highly
highly inspired
inspired PRODIP
in (Back et
in integrated
integrated al., structural
prod-
prod- bedded
structural software
tests
tests andarchitecture
and mission and the control
mission specification.
specification. strategy
Besides,
Besides, the are
the em-
em-
uct design methods, like for example PRODIP (Back et al., bedded software architecture and the control strategy are
uct design methods, like for example PRODIP (Back et al., bedded software
uct design methods, like for example PRODIP (Back et al., bedded software architecture and the control strategy are architecture and the control strategy are
Copyright@ 2016 IFAC
2405-8963 © 2016, IFAC (International Federation of Automatic Control)141Hosting by Elsevier Ltd. All rights reserved.
Copyright@ 2016 IFAC 141
Copyright@
Peer review 2016
under
Copyright@ 2016 IFACIFAC
responsibility of International Federation of 141
Automatic
141Control.
10.1016/j.ifacol.2016.12.204
2016 IFAC CPHS
142 Fernando S. Gonçalves et al. / IFAC-PapersOnLine 49-32 (2016) 141–146
December 7-9, 2016. Florianopolis, Brazil
not sufficiently detailed. In this sense, additional projects
should be integrated to this methodology, aiming to rep-
resent these additional features.
A development process applied to design embedded crit-
ical systems is presented in Becker et al. (2010), where
the required tasks are detailed in order to specify the
embedded application. This process is composed by seven
steps, representing the requirements definition, functional
modeling and simulation, environment description, hard-
ware and software architectural modeling, hardware and
software mapping, real-time properties specification, and
timing verification. The proposed tasks represent the em-
bedded critical properties in order to build these applica-
tions. Applying the proposed design process to the UAV
development, it is observed that it is focused on the de-
sign of the control strategy and software architecture, as
well as on mapping the hardware and software structures.
However, the UAV structure requires the specification of
some additional characteristics that are not covered by this
process such as the mission definition, and the electrical
and communication design.
A Model-Based Design (MBD) Methodology for CPS is
presented in Jensen et al. (2011), where a set of steps is
defined for designing this class of systems. The proposed
methodology is composed by ten fundamental steps that
aims to cover the problem statement: physical processes
modeling, problem characterization, control strategy de-
sign, select the model of computation, hardware speci-
fication, simulation, construction, software synthesizing,
verification and validation, and tests. The proposed steps
aim systematize the CPS design process, and as described
by the authors these tasks provide the main application
aspects in detail. Considering the use of this approach to
the UAV design, it is observed that the some aspects are
not considered, such as the mission definition, mechanical
design, aircraft configuration design, and hardware and
software integration. In this way, this approach can be
applied to the UAV design, but its use requires a large
experience of the project team in order to cover the high-
lighted aspects.
In Aktas et al. (2014) the design process applied to build a
Vertical Take-off and Landing (VTOL) UAV, named TU-
RAC, is detailed. This design process has four steps that
aim to represent the system requirements, the aircraft con-
figuration, its preliminary design, and the detailed project.
The proposed steps represent the main UAV features in or-
der to cover the aircraft design. By analyzing the proposed
approach, its verified that the defined steps are detailed
aiming to reproduce an specific aircraft configuration, i.e.
the design tasks are sufficiently detailed to the TURAC
UAV. On the other hand, its observed that characteristics
like mission definition, architectural software design, and
electrical project, for example, are not detailed in this
approach. In this way, by applying the proposed approach
to another UAV configuration design, its noted that these
characteristics are specified based exclusively on designers
background.
From the mentioned works, its observed that the proposed
approaches partially support the UAV design process.
Some of them, at most, allow the user to specify the
UAV subsystems and their characteristics. However, its
142
also noted that some design tasks suggest that manual
activities should be performed by the designers in order
to complement the proposed approaches. Consequently,
a solution to systematize the UAV design process must
be proposed. Therefore, an extension of the integrated
product design method is presented in this work, aiming to
fulfill the highlighted gaps by providing means to approach
the complete UAV design process.
3. RESEARCH CONTEXTUALIZATION
The proposal presented in this paper represents an ex-
tension of the integrated product design method named
PRODIP from Back et al. (2008), which is typically used
by mechanical engineers for designing products. This sec-
tion provides an overview of this method. A workflow con-
taining PRODIPs proposed tasks is illustrated in Fig. 1.
This method is segmented in three design phases: Plan-
ning, Project Process, and Implementation. In each phase
a set of activities are proposed, aiming to manage the
product design and to represent it is characteristics. The
main goal of this method is to systematize the process of
product design, i.e., to present guidelines that should be
used by designers in order to perform the product design
in a repeatable and efficient way.
PRODIP suggests an incremental process that guides the
designers to represent the product’s characteristics. The
representation of such characteristics is done by means of
models.
Considering a UAV as a type of product, PRODIP ac-
tivities do not sufficiently detail the required features of
this kind of system, such as mission definition, hardware
and software integration, verification, and others. Thus, an
extension approach of the PRODIP method is proposed in
the next section in order to guide the designers to properly
design UAVs.
4. PROPOSED METHOD
This section details the proposed method used for the
design process of UAVs. Our focus is on adapting PRODIP
in order to represent the required information to develop
such kind of aircraft. Considering the PRODIP structure,
the proposed extension is not intended to modify the
process structure, i.e. it is phases are not modified, however
some tasks are modified to adapt it for the UAV design
process, which is somewhat different from a standard
product design.
An illustration of the extended process is depicted in
Fig. 2, where the highlighted tasks represent the modified
parts. These modifications address particularities of the
UAV design process. In this way, the designers are guided
from mission planning to the aircraft final construction,
covering the main characteristics of these systems.
The proposed design method starts with the planning
phase (Phase 1), where the initial project features are
specified, as further detailed.
Phase 1. Planning - The planning phase describes the
initial project information, i.e. specify some UAV char-
acteristics required to start it is design. The management
 2016 IFAC CPHS
December 7-9, 2016. Florianopolis, Brazil
Fernando S. Gonçalves et al. / IFAC-PapersOnLine 49-32 (2016) 141–146 143
Fig. 1. PRODIP Method from Back et al. (2008)
Fig. 2. Adapted PRODIP according to the current proposal
project information is also detailed on this phase, repre-
senting features such as communication documents, and
management teams.
This phase is composed by two tasks that represent, re-
spectively, the product definition and the project planning.
The modifications proposed by this work relates to the for-
mer Product Planning activity, now named UAV Planning,
as follows.
Activity 1.1. UAV Planning - This activity aims to specify
the desired UAV characteristics, including details about
the possible mission(s) it might perform. Examples of
such characteristics are the aircraft purpose, the required
flight time, and the UAV configuration. Such information
is essential to the design teams, as it is used to guide the
UAV design in order to fulfill the proposed mission(s). A
preliminary mechanical sketch should also be presented
to illustrate the aircraft characteristics. Differently of the
original PRODIP, as output of this activity it is generated
the mission plan, which represents both the aircraft and
mission features.
An example of mission planning concerns the design of
a VTOL UAV that can be used for disaster support. In
this way, this aircraft mission defines that the aircraft will
provide the first support to the disasters’ victims until
the rescue teams arrive. Some features are defined like its
maximum weigh, allowing transportation and launching
by the rescue team; the flight autonomy, that will define
the coverage UAV area during the flights; the aircraft
payload, in order to support the supplies and equipments
transportation during the missions; and maneuverability
in areas with limited space, allowing access in the re-
stricted areas.
Activity 1.2. Project Planning - This activity is not mod-
ified according to it is original specification. It serves
for describing the management activities, including the
definition of the project objectives, project time, teams’
definition, communication management plan, project con-
143
straints, risks evaluation, and design patterns of coding
and documentation. These characteristics are essential to
keep track the project progress. A project plan is presented
as output of this activity.
Defined the UAV mission and the management activities,
the planning phase is concluded. These informations are
used as basis to perform the second project phase (Project
Process), where the UAV characteristics are detailed,
providing the required information to its construction.
Phase 2. Project Process - The project process details the
UAV characteristics based on the defined mission. It is our
understanding that the set of tasks proposed in PRODIP
need to be complemented in order to properly address the
UAV features. The proposed approach suggests modifica-
tions on all four activities from the Project Process, as
highlighted in Fig. 2. As output of this phase there is the
project details that provide the information that allow the
aircraft prototypation.
This phase is highly inspired in the CPS design process
presented in (Passarini et al., 2015), in the sense that
it aims at generating different types of models of the
system under design. Moreover, it also addresses model
transformation techniques, so that the overal approach
copes with the ideas from Model-Driven Design.
Activity 2.1. UAV Informational Project - The informa-
tional project provides the product specification. Differ-
ently from the original PRODIP approach, here the mis-
sion characteristics are also considered to represent the
system requirements. The UAV characteristics are de-
tailed, including the system needs (Functional require-
ments) and the system constraints (non-functional require-
ments). A requirements document is generated as output
of this activity, which is named UAV specification.
Considering a VTOL UAV design, the requirement speci-
fications detail the required system characteristics such as
flight time, operating temperature range, operational bat-
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tery range, maximum flight altitude, collision avoidance
features, and others.
Defined the UAV requirements, it is structural character-
istics should be detailed. This information is expressed in
the UAV conceptual project (Activity 2.2).
Activity 2.2. UAV Conceptual Project - This activity con-
siders some features that are not detailed on the PRODIP
approach, representing the product design. In the UAV
conceptual project, the designers define the aircraft me-
chanical structure and it is functionalities. This includes
the set of peripheral devices - at this moment just an
overview of such components are listed, as basis to the
future detailed specification. Thus, different aircraft con-
figurations are evaluated considering the mission plan,
the functional and the non-functional characteristics. As
output of this activity it is provided the UAV CAD model
(UAV Design).
An example of output from the UAV conceptual project
activity is presented in Fig. 3. This output contains the
UAV mechanical structures, evaluating the aerodynamic
characteristics and other aspects like autonomy, weigh,
and others. A component list is also defined at this
moment, as for the UAV in figure3, it is structure requires
two motors and two servomotors as actuators, as well as
an Inertial Measurement Unit (IMU), a Global Position
Sensor (GPS), a long-range radio, a sonar sensor, and
others. As it can be observed in Fig. 3, the aircraft motors
are coupled to a fixed wing in order to enable the airplane
flight-mode.
Fig. 3. CAD Prototype of the VTOL UAV.
Based on the UAV conceptual design, the aircraft structure
is defined, and the required software and hardware spec-
ifications are performed on the UAV preliminary project
phase (Activity 2.3).
Activity 2.3. UAV Preliminary Project - The preliminary
project details the aircraft structure. This structure rep-
resents the set of required UAV subsystems, i.e. mod-
ules that are responsible to manage a specific aircraft
functionality. The subsystems are coupled with the set
of adopted devices in order to provide the architecture
needed to achieve the missions. The proposed preliminary
project is slightly different from the PRODIP definition,
since here the UAV architecture is defined. The subsystems
are integrated based on the relation of their set of inputs
and outputs, providing a high-level system view. Others
characteristics are also defined on this activity, such as the
required sensors and actuators, the required material to
build the aircraft structure, the power system components,
144
the base station requirement, and others. Prototypes can
be created to better represent the proposed structure. As
output of this activity it is provided a complete system
architecture, describing the UAV software structure.
To exemplify the output provided at this phase it is
presented in Fig. 4 the high-level view of the Simulink
model developed for representing the software structure
of a 5-modules UAV. The modules are: communication,
control, energy, actuation, and sensing. The communica-
tion subsystem is responsible for establishing the aircraft
communication channel with the base station and other
UAVs, for example. The control subsystem is responsible
to manage the system behavior while performing the mis-
sions. The energy subsystem provides the power control
monitoring the energy consumption, the use of renewable
energy, and the battery recharge. The sensing subsystem
is responsible to estimate the aircraft behavior, as well as
some additional functionalities, such as image processing
and collision avoidance, for example. Finally, the actuation
subsystem provides the actuators interface. This structure
represents the system modules and their relations.
Fig. 4. High-level view of the UAV architecture.
Defined the UAV structure, the set of subsystems are
further detailed. Their characteristics are described in the
incoming detailed project activity (Activity 2.4).
Activity 2.4. UAV Detailed Project - On the original
PRODIP approach this activity is concerned with the
details of the product manufacturing plan and the tests on
the designed product. However, to properly address a UAV
design, additional tasks activities should be performed
to support the aircraft construction. The defined system
architecture is then detailed, i.e. the subsystems are de-
tailed and validated. Additional models can be created
to represent these structures. These models can be the
functional, architectural, electrical, and communication.
These subsystems need to be validated and integrated
in order to provide a complete UAV representation. The
aircraft behavior must also be evaluated by the use of
simulation techniques (like Hardware-In-the-Loop), as well
as the system requirements must be validated by the use
of verification techniques (like Run-time Verification). As
output, this activity provides a detailed project, so that
the aircraft can be constructed.
Considering the UAV system presented in Fig. 4, the
detailed project includes additional models that can be
generated in order to represent the subsystems’ character-
istics. For instance, the functional model shown in Fig. 5
represents the control subsystem, in charge to provide the
aircraft stabilization and path tracking.
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Fig. 5. Detailing the UAV control block - Functional Model.
The architectural model details the properties of the sens-
ing, actuation, control, communication, and energy sub-
systems, as well as represents the integration between the
software structures and the system devices. The Archi-
tectural Analysis Design Language (AADL) is used to
represent the architectural model. To exemplify, Fig. 6
presents part of the AADL code that specifies the highest
abstraction level of the UAV architecture.
For instance, there exists solutions for the automatic
transformation of the functional model to the architectural
model, i.e., transforming the specification in Fig. 5 to
the one in Fig. 6. Please refer to (Passarini et al., 2015;
Goncalves and Becker, 2016) for more information about
the mentioned transformations.
1 SYSTEM IMPLEMENTATION UAV.impl
2 SUBCOMPONENTS
3 --PROCESS
4 pi_energy: PROCESS p_energy.impl;
5 pi_control: PROCESS p_control.impl;
6 pi_sensing: PROCESS p_sensing.impl;
7 pi_actuation: PROCESS p_actuation.impl;
8 pi_communication: PROCESS p_communication.impl;
9 --DEVICE
10 di_gps: DEVICE d_gps.impl;
11 di_imu: DEVICE d_imu.impl;
12 di_esc_r: DEVICE d_esc.impl;
13 di_esc_l: DEVICE d_esc.impl;
14 di_sonar: DEVICE d_sonar.impl;
15 di_radio: DEVICE d_radio.impl;
16 di_servo_r: DEVICE d_servo.impl;
17 di_servo_l: DEVICE d_servo.impl;
18 CONNECTIONS
19 C1: PORT di_gps.position -> pi_sensing.position;
... Here goes all the connections (lines 20 to 45)
46 END UAV.impl;
Fig. 6. Part of the UAV Architectural model
After detailing of the UAV subsystems’ characteristics, the
second phase of the proposed method finishes. However,
despite the subsystems validation, the aircraft still needs
to perform validation flights aiming to evaluate the UAV
behavior while performing the mission. Therefore, in the
third design phase (Implementation), the product is vali-
dated during operation.
Phase 3. Implementation - The implementation phase
represents the final design stage, i.e. the UAV is validated,
145
manufactured, and released. By the end of this phase the
UAV should be able to be produced in large scale and,
of course, be ready to perform the planned missions. The
tasks in this phase are quite similar to those stated in orig-
inal PRODIP, being just the first activities suggested to be
modified in order to represent the aircraft requirements.
Three tasks compose the implementation phase and de-
tail the product manufacturing, launching, and validation.
This phase is started performing the UAV product prepa-
ration phase (Activity 3.1).
Activity 3.1. UAV Product Preparation - PRODIP states
that on the product preparation some tasks are performed
to allow the product construction, as well as the initial
batch should be manufactured. However, we believe that
concerning the UAV design an additional task need to
be performed at this time. It represents the execution of
experimental flights, which will be used to validate the
aircraft and allow adjusting the control system, evaluate
the subsystems, and the behavior of the UAV structure. As
output of this activity it is provided the complete solution.
Validated the complete solution, the UAV is being pre-
sented to their customers. This activity is named launch-
ing, and their characteristics are described in the launching
activity (Activity 3.2).
Activity 3.2. Launching - The proposed method considers
that the launching activity properly describes the product
promotion activities. In this way, tasks concern the pro-
duction start-up, the initial bath production, and their
launching to the costumers. Management activities are
also performed on this activity evaluating the product
impact, the sales of the initial bath, being the project
economic and financial analysis finished at this time. As
output of this phase, the UAVs are produced in large scale
and sold.
Once launched, it is required that the product be validated
by the costumers. In this sense, the costumers will evaluate
that if the proposed aircraft meets the proposed mission.
This activity is named validation and their characteristics
are described as follows.
Activity 3.3. Validation - The product validation con-
cludes the UAV design process. This activity is properly
detailed on the PRODIP description and are also consid-
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ered on the proposed method. In this way, this activity
describes essentially management activities in order to
conclude the product project. In this phase some monitor-
ing activities are performed such as the customers product
validation, the product monitoring, the evaluation of acci-
dents among others. The described characteristics are later
analyzed and corrective actions may be proposed in order
to improve the product quality. Concluded the validation
time and improved the product quality the design teams
are dissolved and the product development cycle is ended.
The project validation concludes the proposed method, at
this time the designed UAV is able to be sold and perform
their missions. As described the proposed method aims to
guide the design teams in order to design, construct and
commercialize the aircrafts.
5. CONCLUSION AND FUTURE WORKS
This paper presented a design method devoted to support
the UAVs design process, highlighting particularities of
this type of CPS. The proposed method extends the
PRODIP approach in order to provide a complete guide
to aircrafts design from model to their construction, also
considering the management project activities. In other
words, it allows systematizing the integrated UAV design
process.
By the use of the proposed method, designers can properly
represent the UAV mission characteristics and to design
an aircraft that is able to perform the proposed mission.
The proposed approach is an evolutionary design process,
where on each performed phase artifacts are generated in
order to compose the final solution, detailing the product
characteristics and integrating their subsystems.
The proposed method does not intend to provide specific
solutions to solve particular details related with the UAV
design. In fact, it guides designers while performing neces-
sary design and management decisions, making the process
less prone to errors.
An important aspect to be highlighted is that the gen-
erated UAV architecture is composed by a set of mod-
ules that represents the system functionalities, as well as
the modules properties are detailed by the generation of
more elaborated models, representing specific character-
istics from each subsystem. Therefore, it should adopt
Design-Space Exploration techniques (Vanherpen et al.,
2014). This topic should be explored as future work.
Other aspects to be targeted in future works regards auto-
mated generation of the application models (by the use of
transformation processes), the automatic creation of the
software architecture (based on the application models),
and the improvement of the validation processes (by the
use of run-time verification for example). These character-
istics improve the method coverage, besides automating
the process and reducing the development time.
ACKNOWLEDGEMENTS
The authors would like to thank the Brazilian research
agencies CAPES, CNPq, and FAPEMIG for their financial
contribution to the accomplishment of this work.
146
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