%&tex
\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}.
