LEGO Robot Design using Incrementally Modular Abstraction Hierarchy
Kenji Ohmori · 2013
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