A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach
Table 2
Main control capsules of the PIM can be customized and reused in the new control application for various AUV types.
Designed control capsules
Specialization rules
Generic artifacts
Specialized artifacts
Discrete capsule
The discrete part’s capsule is not changed in the overall design for the new AUV controller
None.
Continuous part
The ports and protocols of this capsule are not changed in the overall design for the new AUV controller
The continuous part’s capsule is specialized by supplementing or cutting down continuous components (xc ∈ X) that depend on the physical actuators installed on the new AUV. The states and their behaviors, which correspond to the supplemented/cut down continuous elements, are supplemented/cut down in/from the state machine of this capsule. The behavior of the new set of continuous elements will be used to redefine the concrete IGCBs (f ∈ F).
IGCB
The state machine, ports, and protocols of this capsule are not changed in the overall design for the new AUV controller
The specification of the IGCB’s capsule captures new IGCB model, which is formed by restructuring the new set of continuous elements according to the implemented functional block diagram.
Internal interface
The state machine and ports of this capsule are not changed in the overall design for the new AUV controller
The specialization of the internal interface’s capsule is performed by supplementing/cutting down in/from the new IGCB in the IGCB’s capsule if necessary new Inv term that corresponds to new supplemented/cut down situations in/from the discrete part’s capsule of application.
External interface
The state machine, ports, and protocols of this capsule are not changed in the overall design for the new AUV controller
The external interface’s capsule is specialized by supplementing or cutting down input or output events, which are issued from outside (i.e., supplementing/cutting down these events in/from its protocols)
The communication pattern shown in Figures 5 and 6 is not changed in the overall design for new controllers of various AUV types.
