ISSN : 1796-203X
Volume : 2    Issue : 10    Date : December 2007

Runtime Analysis and Adaptation of a Hard Real-Time Robotic Control System
Jens Steiner, Matthias Hagner, and Ursula Goltz
Page(s): 18-27
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The increasing complexity of technical systems often leads to problems when they are to be
maintained, changed or extended. Nature inspired concepts like selfmanagement or
self-organization have found their way into technical systems to overcome the complexity problems.
In turn those systems exhibit beneficial self-* properties like self-optimization, self-healing or
This paper presents a software architecture for the control of parallel kinematic machines and its
evolvement to a selfadaptive system that strives to optimize, protect and heal itself. A software
engineering approach for the development of self-managing components is introduced that is
supported by behavior validation in a specialized simulation environment. The first realization of a
self-manager, responsible for the distribution of control components, is described in detail to show
that self-management is feasible in robotic control. The self-manager uses formal analysis
techniques during the runtime of the system to make sure it always conforms to its real-time

Index Terms
Self-Management, Autonomic Computing, Self-* Properties, Robot Control Architecture, FireWire,
Schedulability Analysis