A mulitmodel robotic control law modelled and implemented with the CSP/CT framework

G.H. Hilderink, D.S. Jovanovic, Johannes F. Broenink

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    Abstract

    We use several formal methodologies for developing control applications at our Control Engineering research group. An important methodology we use for designing and implementing control software architecture is based on CSP concepts. These concepts allow us to glue multidisciplinary activities together and allow for formal stepwise refinement from design down to its implementation. This paper illustrates a trajectory and shows the usefulness of CSP diagrams for a simple mechatronic system. The simulation tool 20-SIM is used for creating the control laws and our CTC++ package is used for coding in C++.
    Original languageUndefined
    Title of host publicationProceedings of the CPA 2003
    EditorsG.H. Hilderink, J.F. Broenink
    Place of PublicationEnschede
    PublisherIOS Press
    Pages315-334
    Number of pages20
    ISBN (Print)1 58603 3816
    Publication statusPublished - 7 Oct 2003
    EventCommunicating Process Architectures, CPA 2003: 26th WoTUG Technical Meeting on Concurrent and Parallel Programming 2003 - University of Twente, Enschede, Netherlands
    Duration: 7 Oct 200310 Oct 2003

    Publication series

    NameConcurrent Systems Engineering Series 61
    PublisherIOS Press

    Conference

    ConferenceCommunicating Process Architectures, CPA 2003
    CountryNetherlands
    CityEnschede
    Period7/10/0310/10/03

    Keywords

    • METIS-212891
    • IR-45675

    Cite this

    Hilderink, G. H., Jovanovic, D. S., & Broenink, J. F. (2003). A mulitmodel robotic control law modelled and implemented with the CSP/CT framework. In G. H. Hilderink, & J. F. Broenink (Eds.), Proceedings of the CPA 2003 (pp. 315-334). (Concurrent Systems Engineering Series 61). Enschede: IOS Press.