Add introduction. Refs #1

content/introduction.tex

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 %&tex
-\chapter{introduction}
+\chapter{Introduction}
 \label{introduction}
+\section{Context of this Thesis}
+    Design methodology for \ac{cps} is one of the research topics within the department of Robotics and Mechatronics.
+    A \emph{design method} for rapid development of embedded control software is proposed by \textcite{broenink_rapid_2019} as part of this research topic.
+    The design method in the paper is used to design a control system on an existing hardware system.
+    The result is an operational, software based, control system for a mini-segway. 
+    About this result, Broenink and Broenink make the following statement: "this [result] does not mean that the same techniques cannot be applied to the physical part of the system."
+    The goal of this thesis is to substantiate this statement with a case study wherein a physical system is developed from scratch according to the design method.
+    Directly from the start of this research it was clear that, without adjustment, the design method cannot be applied to the physical part of the system.
+    The required adjustments consist of refining and extending the proposed design method into a \emph{design plan} that can be used in a \emph{case study}.
+
+\section{Research Objective}
+    The research is summarized in the following two research questions.
+    \begin{itemize}
+        \item Which techniques of the design method can be applied in the development of hardware?
+        \item Which adaptations are required to create a design method that is suitable for the development of hardware?
+    \end{itemize}
+
+\section{Approach}
+    This research revolves around performing a development process according to the design method in the form of a case study.
+    However, there are a couple of steps required prior to the start of the case study.
+    The first step is to produce a concrete design plan based on the design method.
+    The concrete design plan improves the evaluation of the design techniques.
+    The abstract form of the design method leaves room for interpretation.
+    This uncertainty hampers the evaluation process, because it is impossible to point out flaws in something that was not specified in the first place.
+    Therefore, the design method is assessed and detail is added to get a concrete design plan.
+    However, the design method focusses on the rapid development principles and modelling techniques, and does not cover the design steps outside of that focus.
+    These steps, like problem definition and system specifications, are a crucial part of the design process and are added to create the concrete design plan.
+    The added steps are based on the steps in a \ac{se} approach.
+
+    With a design plan to use in the case study there are two steps left.
+    With one step being an \emph{evaluation plan} to ensure complete and consistent feedback during the case study.
+    The design plan consists of multiple design steps that are performed in succession.
+    The evaluation plan consists of a list of questions that have to be evaluated for each design step.
+    There are specific questions that evaluate the definition or the execution of the design step.
+    The other step is to provide a \emph{subject} to develop in the case study.
+    Normally, the desired result of a design process is the optimal end product.
+    However, the goal of this research is to evaluate the design method, not to develop a product.
+    One of the requirements of the possible subjects is therefore a minimum level of complexity, aiming to cover all essentials of the design method.
+    Some other requirements, based on practical decisions like budget, tools, and time, were defined as well.
+    Based on the requirements, the subject of choice is "Writing a tweet on a whiteboard".
+    
+    With something to develop, a method to develop, and a method to evaluated the case study is executed.
+    The result is a partial prototype of a whiteboard writer and a evaluation document.
+    The evaluation of the case study is then used to suggest an improved design method for the physical part of the system.
+
+\section{Structure}
+    The refinement of the design method and adding design steps is done in \autoref{analysis} to define a concrete design plan.
+    The evaluation plan and subject of development is defined in \autoref{case_method}.
+    This preparation is then performed as a case study in \autoref{case_experiment}.
+    In \autoref{case_evaluation} the case study is evaluated.
+    In \autoref{reflection} the evaluation is reflected, resulting in proposed improvements.
+    These improvements are processed in \autoref{improved_design} into a new design method.
+    And finally, the research is concluded in \autoref{conclusion}.