完整版外文翻译改立体车库可编辑修改word版.docx
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完整版外文翻译改立体车库可编辑修改word版.docx
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完整版外文翻译改立体车库可编辑修改word版
本科毕业设计
外文文献及译文
文献、资料题目:
Specification,Analysisand
VerificationofanAutomatedParkingGarage
文献、资料来源:
谷歌学术
文献、资料发表(出版)日期:
2005院(部):
机电工程学院
专业:
机械工程及自动化
班级:
机械112
姓名:
江治国
学号:
2011071154
指导教师:
刘辉
翻译日期:
2015.3.10
外文文献:
Specification,AnalysisandVerificationofanAutomatedParkingGarageAadMathijssen,A.JohannesPretorius
Abstract
Inthisreportwediscussthespecification,analysisandverificationofanautomatedparkinggarageinmCRL2,aprocessalgebrawithdata.Weviewtheparkinggarageasasystemthatweconceptuallydivideintothreelayers:
alogicallayer,asafetylayerandahardwareabstractionlayer.Thisallowsustoabstractfromimplementationdetails(hardwareabstractionlayer)andalgorithmdesign(logicallayer).Instead,weareabletofocusonthespecificationofacommunicationinterfacebetweenthesetwolayersthatonlyallowssafesystembehavior.Thisinterfaceconstitutesthesafetylayer.Forthesafetylayer,weidentifyandformulateanumberofrequirements.Theseareverifiedandreportedon.Wealsodiscusstheanalysisofthespecificationofthesafetylayerwithasimplecustomvisualizationtool.Thistoolwasimplementedasaplug-intothemCRL2toolsetandhelpedusgainimportantinsightsduringthespecificationandanalysisofthesafetylayer.
1Introduction
Duringthepasttwodecadesprocessalgebrashavebecomeincreasinglypopulartoolsfordescribingcomplexsystemsthatinteractwiththeirenvironment[5].Suchsystemsdifferfromclassicbatchprocessesthatreceiveinput,processtheinput,produceoutputandthenterminate.Instead,theirbehavioriscontinuouslyinfluencedbyinformationthattheyreceivefromtheirenvironment.Anautomatedparkinggarageisaprimeexampleofsuchasystem.Itisinoperation24hoursaday,7daysaweek:
itiscontinuouslyonstandby,readytostowawayandretrievecarsforusers.Furthermore,thestateofthegarageisconstantlychangingascarsareaddedandremoved.Atanypointintime,thisstateinfluenceswhichoperationsarepossibleandhowtheyareexecuted.
Processalgebraallowsforhigh-leveldescriptionsofsystemsthatinteractwiththeirenvironment.Asystemisregardedasanumberofinteractingprocessesthattogetherdescribeitsbehaviour.Inthiswayamathematicalmodelisacquiredandthisisusedtoprovevarious
propertiesofthesystemusingmathematicalprooftechniques.TheprocessalgebrausedinthisreportismCRL2[3].ItsucceedsandextendsµCRL[4,5].
WithµCRLalargenumberofreal-worldsystemshavebeenanalysedandverified.SomeofthesuccessesthatµCRLhasbookedincludethedetectionofanunknowndeadlockinthemostcomplexvariantoftheslidingwindowprotocol[1,11],theidentificationofanumberoferrorsinadistributedliftingsystemfortrucks[2]andthediscoveryoftwoerrorsinaJavadistributedmemoryimplementation[9].Fromalltheseexperimentsweunfortunatelyhavehadtoformulatethe100%rule:
in100%ofthecasesconsidered,systemsturnouttocontainmoreorlessseriouserrors,whicharenotveryhardtodetect.
AnimportantcharacteristicofmCRL2anditspredecessorµCRListheinclusionofdata.Experiencehasshownthatinreal-worldsystemsdataisofparamountimportance[6].Inadditiontotheexecutionofactions,itisoftenthecasethatdataisstoredandcommunicated,thushavingasignificantinfluenceonsystembehaviour.
IntheremainderofthisreportwediscussthespecificationofanautomatedparkinggarageinmCRL2.Wealsodiscusstheanalysisandverificationofthesystemandthetechniquesused.Insection2weprovidemoredetailsonthechallengespresentedbythissystem.Insection3weoutlinetheapproachwehavetakentoaddresstheseissuesandweexplainhowweconceptuallydividethesystemintothreelayers.Thisallowsustoconcentrateononelayer,thesafetylayer,whichwebelieveisessentialinverifyingthatthesystemissafe.WefollowthisbyadiscussionofmCRL2andthemCRL2toolsetinsection4.Insections5,6and7wespecifythehardwareabstractionlayer,thesafetylayerandthelogicallayerrespectively.Wetreatthehardwareabstractionlayerandthelogicallayerterselybutrevealmoredetailsofthesafetylayer:
weprovideaspecification,formulateanumberofsafetyrequirementsandverifythese.Insection8wedescribeasimplevisualizationplug-inforthemCRL2toolsetaswellastheinsightswegainedfromusingit.Finally,wedrawconclusionsinsection9.
2Problemdescription
TheparkinggaragethatweareconcernedwithwascommissionedbydevelopersinBremen,GermanyandwasdesignedbytheDutchcompanyCVSSAutomatedParkingSystems.Itwillberealisedbelowstreetlevelinthebasementofanexistingbuilding.Accesstothegaragewillbe
providedwithaverticalliftshaftthathasadoorwayatstreetlevel.Tousethefacility,userswilldrivetheircarthroughthisdoorwayintothelift.Aftertheyhaveexitedfromtheircarandthelift,theircarwillautomaticallybeloweredtoanintermediatelevel,rotated180◦horizontally,loweredtothebasementandstowedawayusinganumberofconveyorbeltsandshuttles.Whenauserwishestoretrieveacar,thissamesystemofconveyorbeltsandshuttleswillbeusedtobringthecartotheliftfromwhichitwillbebroughttostreetlevel.Sincethecarhadbeenrotatedbefore,itwillnowfacethedirectionofthestreet.Theuserstepsintothecaranddrivesawaythroughthedoorway.
Thesystemwillprovideanumberofsecurityandsafetychecksduringcheck-inandcheck-outofacar.Thisincludesreadingatranspondercardonthecarandcheckingadatabaseofregisteredusersbeforeopeningthedoorwaytothelift.Asthecarisdrivenintothelift,theuserwillbeprovidedwithanumberofcuestoensurethatthecarispositionedappropriately.Therewillalsobeachecktoensurethatthehandbrakeisengaged.Beforeloweringthecartothebasement,theliftwillbescannedtoensurethattherearenolivingbeingspresent.Whenauserwishestoretrieveacartherewillbethenecessarysecuritycheckstopreventtheft.Furthermore,therewillbetrafficlightsoutsidethedoorwaytopreventtrafficjamsandtheinstallationwillbeprovidedwithdrivermotors,positionsensors,closedcircuittelevisioncameras,smokealarmsandsprinklers.
Insubsequentdescriptionsweconsciouslyabstractfromdetailssuchasdrivermotors,positionsensorsandsoforth.Wealsorestrictourselvestoonlytheverticalliftandthebasementlevelparkinggarage.Wedonottakeintoaccountthemechanismsputinplaceforregulatingtrafficoutsidethelift,correctlypositioningthecarinthelift,orcuestoenterandleavethelift.Thisisdoneinordertotightlydrawtheboundsofourscopeandtofocusonwhatwebelievearetheessentialelementsthatfacilitatethesafebehaviourofthesystem.Indoingso,weavoidgettingboggeddownbyimplementationissues,hardwareorlogistics.
Figure1:
Floorplanoftheparkinggarage,basementlevel
Fromourperspectivetheoperationofthesystemisinitiatedeverytimeacarispositionedappropriatelyintheliftatstreetlevelorwhenarequestforacarisreceived.Physicallyweviewthesystemasconsistingofasingleliftandaparkinggarage.Theliftcanbeinoneofthreeverticalpositions:
streetlevel,rotationlevelorbasementlevel.Attherotationlevel,theliftisabletorotate180◦horizontally.Thisisprovidedthattherearenocarspositionedimmediatelyadjacenttotheliftshaft(oneitherside)atbasementlevel.Theflooroftheliftconsistsofaconveyorbelt.Whentheliftisatthebasementlevelthisconveyorbeltisabletomovesideways(seethedescriptionbelow).
Themostcomplexandmostinterestingpartofthesystemistheparkinggarageatbasementlevel.Themovementofcarsatthislevelisfacilitatedbyanumberofconveyorbeltsandshuttles.Thisisillustratedinthefloorplanofthebasementinfigure1.
Asshowninthefigure,thegarageisdividedintothreerows(r1,r2andr3)andtencolumns(c1-c10).Conveyorbeltsareportrayedbygreyrectangleswitharrowsontheirendsandareidentifiedbylabelssuchasb-r1a-sh(belowweelaboratefurtheronthenamingconventionused).Thearrowsindicatetheirdirectionofmovement.Columnsc1andc10containthreeshuttleseach.Ineachofthesecolumnsoneshuttlemaybetiltedonitslongendfacingthewall.Thisresultsinanopenpositiontowhichadjacentloweredshuttlesmaybemoved.Atiltedshuttlemayalsomove
toanewrowpositionbehindloweredshuttles(thisimpliesthatitispossiblefortwoshuttlestobeinthesamerowandcolumnpositionprovidedthatoneistiltedandtheotherlowered).InFigure1,blackarrowsindicatethedirectionsinwhichshuttlescanmove.Similartothelift,everyshuttlealsocontainsaconveyorbeltthatcanmovesideways.
Theliftshaftisinrowr1.Noticethatitisnotplacedoverafullposition,butratherintersectstwocolumns(c6andc7).Thisartefactisduetotheconstructionofthebuildinginwhichthegarageistobeinstalled(andhencebeyondthecontroloftheengineerswhodesignedthegarage).Moreimportantly,thisimpliesthatitmustbepossibletomovecarshalf-columndistancesinthefirstrow.Forthisreasoneverycolumninrowr1isalsodividedintoana(left)andb(right)partasindicatedbythedashedlinesinfigure1.Weusethissameconventioninthenamingofthebeltsinthefigure.Hence,b-r1a-shreferstotheconveyorbeltoftheshuttleontheleft-handsideofrowr1,andsoforth.
Itispossibletomoveanysubsetofconveyorbeltsandanysubsetofloweredshuttles.Itisals
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