From 52b84ff57e5d7c4fdd2dfbf82f695d19edf3accc Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Tue, 15 Sep 2020 16:47:12 +0200 Subject: [PATCH] Wrote RRO of report --- content/designcycle.tex | 265 +++++++++++++++++++++++++++++++++++++ graphics/flowgraph.png | Bin 0 -> 24486 bytes graphics/risktimegraph.png | Bin 0 -> 17988 bytes include | 2 +- report.tex | 235 ++++++++++++++++++++++++++++++-- 5 files changed, 492 insertions(+), 10 deletions(-) create mode 100644 content/designcycle.tex create mode 100644 graphics/flowgraph.png create mode 100644 graphics/risktimegraph.png diff --git a/content/designcycle.tex b/content/designcycle.tex new file mode 100644 index 0000000..407bce1 --- /dev/null +++ b/content/designcycle.tex @@ -0,0 +1,265 @@ +%&tex +\chapter{System Design Method} +\label{chap:systemdesign} +\section{Introduction} + This chapter explains the design method that will be used. + The design method is build around the rapid-development methodology by \textcite{broenink_rapid_2019}. + The rapid-development methodology consists of a structured way of implementing features consecutively. + %proposes a methodology where features are implemented consecutively. + The goal of the preparation phase is a list of feature definitions that are ready for implementation. + However, it is expected that some features are not ready for implementation initially. + Implementing the features that are ready, will generate more information about the design direction. + Therefore, the feature definitions will be reviewed during the development, each time the implementation of a feature is completed. + During the review, feature definitions are updated with the additional gained information until ready for implementation. + + \autoref{fig:flowgraph} shows the different steps in the design flow. + In this chapter the different steps are explained except for the feature implementation step, which is covered in the next chapter. + \autoref{sec:preparation} explains the problem definition, system requirements and initial design. + In \autoref{sec:featuredefinition} the feature definition step is explained. + Then the system testing is introduced, followed by feature selection, as the test-cases will influence the feature selection. + + \begin{figure} + \includegraphics{graphics/flowgraph.png} + \caption{Flow graph for the design steps. After a successful system testing the feature is completed and specifications are updated. Then the next feature is selected and implemented.} + \label{fig:flowgraph} + \end{figure} + +\section{Preliminary Design} +\label{sec:preparation} +The preliminary design is the first step of this design method. +The steps in the preliminary design are expected to only be executed once. +However, any mistakes made, could require a review of one or more steps of the preliminary design. + \subsection{Problem definition} + The first step of the design cycle is to describe the problem that has to be solved. + A clear and concise problem definition increases a successful design process. + It gives a better basis for the system requirements. + Therefore, lowering the number of reviews required for the system requirements. + Furthermore, good definitions help determining overall feasibility of the project in an early stage. + + \subsection{System Requirements} + The system requirements are derived from the problem definition. + As the features will be derived from these system requirements, the goal is to define the requirements without any ambiguity, vagueness or complexity. + The requirements will be written according to \ac{ears} \autocite{mavin_easy_2009}. + \ac{ears} was chosen for this design method due to its simplicity, which is is deemed suitable for the scope of this research. + If issues, like ambiguity, are not dealt with correctly, these issues can propagate into the sub-requirements that will be defined for each feature. + Solving these issues in a later stage of the design could require a redesign of features that were already completed. + + + \subsection{Initial Design} + At the start of a development the final solution for the problem is unknown. + It is important to explore the different solutions and design space. + The goal of this initial design is to create an overview of these possibilities. + Due to the scope of this research, the choice of design solutions is made for a design that is expected to fit this research, instead of determining the optimal solution. + + However, in an actual design case, this step is crucial and can even be extended. + A problem can be solved with more than one design. + It is expected that these design solutions contain identical features. + For example, take a cube that has to be moved. + Each design has a grab feature that picks up the cube. + Instead of choosing a specific initial design, we could start by implementing the grab-feature. + If the grab feature proofs to be infeasible, we know that we have to choose a different design. + Would the grabber be a success, then the feature is already implemented for the designs that use it. + + This can reduce the risk during the design by implementing features first that have overlap in other design solutions. + First of all, it can help select a suitable design solution. + If a initial design fails in a later stage, switching to a different design can be cheaper as some features are transferable. + +\section{Features Definition} +\label{sec:featuredefinition} + The characteristics of the system under design are the system features, which will be implemented into the model. + To implement the features one by one it is important that all the features are defined prior to the design cycle. + A subset of the system requirements will be assigned to the feature and will be referred to as the feature requirements. + The best division of requirements varies strongly with the domain of the system. + Therefore, the best engineering judgment of the developer is needed to divide the requirements. + The sum of the feature requirements cannot exceed the overall system requirements. + However, during the design phase it is possible to change the requirement division between features. + + It is expected that the division will be updated multiple times during the development. + To efficiently change the division during the development without mistakes, good administration is key. + \autoref{tab:subreq} shows an example to create overview. + Each row contains one requirement. + If a requirement is updated, the division can directly be reviewed. + Would a feature change, then only one column has to be reviewed. + However, the final organization of the different feature requirements is more complex than this example. + Partially because not all requirements can be split up in simple numbers. + + \begin{table}[] + \caption{System requirements and the division of these requirements for features.} + \label{tab:subreq} + \begin{tabular}{ll|lll} + & System & Feature 1 & Feature 2 & Feature 3 \\ \hline + \multicolumn{1}{l|}{Weight} & 3 kg & 1 kg & 1.2 kg & 0.5 kg \\ + \multicolumn{1}{l|}{Power} & 100 W & 25 W & - & 60 W + \end{tabular} + \end{table} + + \subsection{Dependencies} + \label{sec:feature_dependencies} + Different features combined represent the complete system under design. + How these features interact with each other is depending on the system design. + For example, take a robot system that has to grab something. + Looking at the two core features of the robot arm that moves, and the gripper that grabs. + The specifications of the gripper could depend on the robot arm, as the gripper has to be compatible with the robot arm. + However, this also applies the other way around. + We could also specify a robot arm that is compatible with the developed gripper + + To ensure that the features are compatible with each other, the developer has to specify the dependency of the features. + Especially in what direction the dependency should apply. + Including extra system specifications to the robot arm example can result in a different dependency direction. + If the specification is to lift an object with specific mass, the robot arm becomes dependent on the gripper. + Because the robot arm has to be able to lift the mass of the gripper and object combined. + If the specification would be a confined working area, the size of the robot arm is the leading factor. + Which limits the remaining weight or size specifications for the gripper. + If both specifications would apply, the developer has determine the dependency direction carefully. + It is possible that the weight specification and space limitation combined lower the feasibility of the project. + The developer should choose a direction which can determine the feasibility as early as possible. + + This example used only two features. + However, it is certain that the actual development contains more than two. + \autoref{fig:featuredependency} shows an example of a dependency graph with five features. + It can be seen that features 2, 3 and 4 are depending on feature 1. + Where 4 is also depending on 3. + + \begin{marginfigure} + \begin{tikzpicture} + [node distance=5mm,feature/.style={rectangle,draw}] + \node at (0,0) [feature] (F1) {Feat. 1}; + \node (F2) [feature,right=of F1] {Feat. 2}; + \node (F3) [feature,below=of F2] {Feat. 3}; + \node (F4) [feature,right=of F3] {Feat. 4}; + \node (F5) [feature,below=of F1] {Feat. 5}; + \path (F1) edge[->] (F2) + (F1.east) edge[->] (F3.west) + (F3) edge[->] (F4); + \end{tikzpicture} + \caption{Simple dependency graph for features.} + \label{fig:featuredependency} + \end{marginfigure} + + A crucial task in the design cycle is updating the feature specification accordingly with the dependency. + At the point that the gripper is finished, the specifications of the robot arm can be updated. + Not only does it improve the specification, it can also help in determining the feasibility. + In this chapter we also introduce the method which selects the next to implement feature. + This method does rely on the feasibility and dependency of features, making the update even more important. + +\section{System Testing} + \label{sec:systemtesting} + The system and features are tested during each iteration against the system requirements. + This is to make sure that the design still performs as expected. + During the preliminary design phase of the development the system tests are defined. + The system test are derived from the system requirements and cover the global performance. + However, at this point there is no model yet to test against. + During the design cycle these test cases will become valid as more behavior of the system model is implemented. + For each test it is assessed what features are required to complete the test. + + %Although an automatic testing method is presented by \autocite{broenink_tooling_2020}, the testing will performed manually. + %The tooling is still experimental and yet suited for use in a design method. + The tests that will be done cover the physical part of the system. + These tests will be performed manually as tooling for automated testing is still in the experimental phase. + \rrot{@Tim, I like to cite the paper on AMT but that one is not yet published?} + However, a design of a cyber-physical system is guaranteed to contain software. + As the focus of this Thesis is on hardware design, the software testing will not be part during this research. + +\section{Feature Selection} + This section explains the selection criteria which determines the next feature that will be implemented. + During the development it is expected that problems and issue occur. + The consequences of these issues are that a system requires a (partial) redesign. + Worse, the problem cannot be solved and the development is cancelled. + The selection method is designed to reduce the risk of these issues during the development. + + \subsection{Dependency} + \autoref{sec:feature_dependencies} introduced the dependencies of features. + By the fact that child features are missing information from the parents implementation, the parents shall be implemented first. + Even if the child is not relying on parent information, the parent should still be implemented first. + If the parent feature is not feasible, any implementation of the child becomes obsolete. + + Parent-features with multiple children have priority. + As the implementation gains new knowledge that is relevant for multiple features. + This helps to get all the specifications defined in an early stage of the development, which reduces the risk. + + \subsection{Test Completion} + Each function has a set of requirements which are tested during the development. + This is a subset of the system requirements. + \autoref{sec:systemtesting} explained the system tests, where the system tests can span over multiple features. + Passing these test is crucial for the design method, as finding flaws in an early stage is very important. + Therefore, features that can make a requirement testable can be selected by the developer to be implemented first. + + \subsection{Risk Assessment} + It is important to clear the risks in a development in the shortest amount of time. + If a development runs into problems near the end of its completion all investments are lost. + All features will be ranked on their feasibility and time required for implementation. + With that it is possible to sort the features such that most risk is cleared in the least amount of time. + %Remaining features from both selection criteria are sorted on risk and implementation time. + %When features are implemented and test are complete the risk of them failing is gone. + Therefore, features that are quick to implement could have priority, as the risk can be cleared in an early stage. + However, there is a trade-off to be made with risk involved of the implementation itself. + Features with a low feasibility are a risk to the whole development. + Especially if the feature has low feasibility and a large implementation time, a large risk remains at the end of the development. + Combining time and risk factors gives a method for eliminating the highest risk per time of development. + + In \autoref{tab:risktimetable} a situation of four features is shown. + It can be seen that feature 1 has the highest risk. + However, by prioritizing features 3 and 4 over feature 1 we can clear 40\% of the risk in halve the implementation time of feature 1. + \begin{table}[] + \caption{Comparison of features with their corresponding risk and time. The last column is the risk value divided by the number of days.} + \label{tab:risktimetable} + \begin{tabular}{l|l|l|l|} + \cline{2-4} + & Time (days) & Risk (\%) & Risk per time \\ \hline + \multicolumn{1}{|l|}{Feat. 1} & 6 & 45 & 7,5 \\ \hline + \multicolumn{1}{|l|}{Feat. 2} & 3 & 15 & 5 \\ \hline + \multicolumn{1}{|l|}{Feat. 3} & 1 & 15 & 15 \\ \hline + \multicolumn{1}{|l|}{Feat. 4} & 2 & 25 & 12,5 \\ \hline + \end{tabular} + \end{table} + + \subsection{Combining} + \rro{Example of a selecting features with the three methods given above} + +\section{Feature Implementation} + This section will explains the methodology for the development of a single feature. + The methodology is based on the variable detail model simulation methodology \autocite{broenink_variable_2018}. + +\subsection{Initial design} + Implementing a feature starts with an initial design. + The initial design gives a rough idea on how to implement the feature. + This is important because there are multiple ways to implement a feature. + For example, moving a carriage along a rail can be done by a belt drive, hydraulics, rack and pinion, or any other form of transmission. + + \rrowip{General Note: This part of the method never felt like I could fit it in. Now that I have applied the method in general it does make even less sense...} + From the initial design the structure of the model is determined. + The structure of the model specifies different sub-models in the system and how they are interconnected. + \textcite{broenink_variable_2018} explains how to split the model into sub-models. + Broenink's methodology also introduces different categories for the elements. + Where the first step is to implement only the essential elements. + However, which elements are essential has a strong dependency on the type of feature. + + + +\subsection{Testing} + To make sure the design of the feature stays within the specifications, the model is tested continuously. + The test-cases are based on a set of system specifications that was assigned to the feature. + \rrowip{Although AMT would be really nice it was not feasible to implement/use it. Therefore, it was done manual and I have to remove this part.} + Similar to the system testing in \autoref{sec:systemtesting} the test are performed with \ac{amt}. + It is important that the feature specifications are tested. + However, the test should also cover the physical behavior like parasitic elements. + It is obvious that we have to test this, but no clue on how to actually test. + + Making the test cover all the physical behavior is expected to be impossible. + However, without a coverage case for physical behavior it is possible to create a model that checks all the tests. + For example, by leaving out the parasitic elements and only using ideal elements. + This does not mean that the model is competent, but it shows that a model can ignore the laws of physics. + So the challenge is to complete all the tests with a model that remains a realistic implementation. + Therefore, modeling a realistic behavior is task of the developer. + And this is eventually validated with a physical prototype. + +\subsection{Model detail} +\rrowip{This part is a bit minimal, needs more content} + The initial idea was to start with an ideal model as first implementation. + It is expected that implementing only the essential elements of the system does not represent a valid behavior. + At least not with the categorization that is introduced by \textcite{broenink_variable_2018}. + Maybe in a simple motor model, but not in a system with some kind of feedback. + As the feedback is normally based on the state of a storage element. + + The order of implementation is difficult to define. + Therefore, it should be the developer that decides on the minimal implementation of the model. diff --git a/graphics/flowgraph.png b/graphics/flowgraph.png new file mode 100644 index 0000000000000000000000000000000000000000..194d97bc4ba8b6b5844578d36b6c3badb03d2e93 GIT binary patch literal 24486 zcmeFZWl&wg6E8>-oZ!LTgF6Iw3+^t#{o;0!K!OB!f(LikpuyeU-Cc6wqI>fH@2h%M 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