O.: Partitioning and Modular Code Synthesis for Reconfigurable Mechatronic Software Components

Online reconfiguration offers great potential for improv-ing the performance of technical systems at run-time. To enable reconfiguration, which can also be employed in complex hierarchical designs for mechatronic systems, support for the modeling and realization of modular re-configuration is required. In this paper, we present the modular code synthesis for our modeling approach with Hybrid Components and a related Hybrid Statechart extension for the Unified Modelling Language (UML) which offers a representation of reconfigurable systems including conventional, non-reconfigurable block dia-grams. To avoid the logic to be executed down to ev-ery possible ramification, the control behavior is at first partitioned into hierarchically organized continuous and discrete blocks. An implementation is then presented which schedules the evaluation of the continuous and discrete blocks in such a manner that the reconfiguration steps are safely and efficiently realized and the resulting code is suited to hard real-time systems