LEGO Robot Design using Incrementally Modular Abstraction Hierarchy

Kenji Ohmori


Embedded System, Concurrent System, Software Engineering, Design Method


Incrementally Modular Abstraction Hierarchy (IMAH) is a new design method that consists of abstraction levels starting from the most general level and ending at the most specific one. IMAH is a common method that can be applied to wide variety of application areas. In this paper, IMAH is applied to an embedded system that is implemented as a concurrent system. In a concurrent system, each component of the system is regarded as an agent. The agents in the system cooperate with each other to achieve required services. This paper describes the design of the concurrent system that is theoretically supported by IMAH while avoiding logical faults. The design of a LEGO robot is carried out by descending the abstraction hierarchy, where the specification is transformed to components, state transition diagram, the description of communicating sequential processes (CSP) and program codes. When descending the abstraction hierarchy, a homotopy lifting property (HLP), which is one of the most important properties in homotopy theory, is used when applying a bottom-up approach. In contrary, a homotopy extension property (HEP) is used for a top-down approach. The design method has succeeded in providing a theoretical approach, which enables to implement a secure system.

Important Links:

Go Back