%T HW/SW Design Space Exploration on the Production Cell Setup
%A Marcel A. Groothuis, Jan F. Broenink
%E Peter H. Welch, Herman Roebbers, Jan F. Broenink, Frederick R. M. Barnes, Carl G. Ritson, Adam T. Sampson, G. S. Stiles, Brian Vinter
%B Communicating Process Architectures 2009
%X This paper describes and compares five CSP based and two CSP
related process\-oriented motion control system
implementations that are made for our Production Cell
demonstration setup. Five implementations
are software\-based and two are FPGA hardware\-based. All
implementations were originally made with different purposes
and investigating different areas of the design space for
embedded control software resulting in an interesting
comparison between approaches, tools and software and
hardware implementations. Common for all implementations is
the usage of a model\-driven design method, a communicating
process structure, the combination of discrete event and
continuous time and that real\-time behaviour is essential.
This paper shows that many small decisions made during the
design of all these embedded control software
implementations influence our route through the design
space for the same setup, resulting in seven different
solutions with different key properties. None of the
implementations is perfect, but they give us valuable
information for future improvements of our design methods
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