A framework for the implementation of advanced real-time control systems which uses signal/block-based schematics (like Simulink) extended by several features like state machines and online-exchangeable sub-simulations. Besides, this framework properly handles multiple threads, their communication, allows to synchronise control systems to external events (e.g. variable timers or incoming network packages) and provides many other nice features. Because of a high-level schematic-description language -- in form of provided Scilab commands -- only a minimal implementation-effort (no error-prone C-programming) is required.
- Implementation of control systms (feedback / feedforward controllers) or signals processing algorithms using an extension to Scilab
- Highly flexible through advanced features like state machines, multiple threads (e.g. one thread per simulator), ability to replace parts of the controller online
- Real time execution of block- / signalbased simulations
- Linux real time preemption support
- Support for modules and plugins
- A library for integration into C / C++ software
- Scilab / Scicos integration by providing an HART-Toolbox module (hart.sf.net)
- Realtime recording of measurement / internal data
- Remote control interface via TCP/IP for high level controllers written in Scilab, Phython, Matlab or any other language
- Painless implementaion of highly nonlinear equations through the use of muParser (muparser.sf.net)
- Actuation of hardware through the ability to add new modules coded in C / C++
- Four years of development so far -- stable operation (e.g. used in medical engineering) and extensively tested
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