%T HW/SW Design Space Exploration on the Production Cell Setup
%A  Marcel A. Groothuis,  Jan F. Broenink
%E Peter H. Welch,  Herman Roebbers,  Jan F. Broenink,  Frederick R. M. Barnes,  Carl G. Ritson,  Adam T. Sampson,  G. S. Stiles,  Brian Vinter
%B Communicating Process Architectures 2009
%X This paper describes and compares five CSP based and two CSP
   related
process\-oriented motion control system
   implementations that are made
for our Production Cell
   demonstration setup.  Five implementations
   are
software\-based and two are FPGA hardware\-based.  All
   implementations
were originally made with different purposes
   and investigating
different areas of the design space for
   embedded control software
resulting in an interesting
   comparison between approaches, tools and
software and
   hardware implementations.  Common for all implementations
is
   the usage of a model\-driven design method, a communicating
   process
structure, the combination of discrete event and
   continuous time and
that real\-time behaviour is essential. 
   This paper shows that many
small decisions made during the
   design of all these embedded control
software
   implementations influence our route through the design
   space
for the same setup, resulting in seven different
   solutions with
different key properties.  None of the
   implementations is perfect, but
they give us valuable
   information for future improvements of our
design methods
   and tools.