LEGO ROBOT DESIGN USING INCREMENTALLY MODULAR ABSTRACTION HIERARCHY

摘要

Incrementally Modular Abstraction Hierarchy (IMAH) is arnnew design method that consists of abstraction levels startingrnfrom the most general level and ending at the most specificrnone. IMAH is a common method that can be appliedrnto wide variety of application areas. In this paper, IMAHrnis applied to an embedded system that is implemented asrna concurrent system. In a concurrent system, each componentrnof the system is regarded as an agent. The agents inrnthe system cooperate with each other to achieve requiredrnservices. This paper describes the design of the concurrentrnsystem that is theoretically supported by IMAH whilernavoiding logical faults. The design of a LEGO robot is carriedrnout by descending the abstraction hierarchy, where thernspecification is transformed to components, state transitionrndiagram, the description of communicating sequential processesrn(CSP) and program codes. When descending thernabstraction hierarchy, a homotopy lifting property (HLP),rnwhich is one of the most important properties in homotopyrntheory, is used when applying a bottom-up approach. Inrncontrary, a homotopy extension property (HEP) is used forrna top-down approach. The design method has succeeded inrnproviding a theoretical approach, which enables to implementrna secure system.