ORCCAD: software engineering for real-time robotics. A technical insight

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 111-115 ◽  
Author(s):  
D. Simon ◽  
B. Espiau ◽  
K. Kapellos ◽  
R. Pissard-Gibollet
Keyword(s):  
Software Engineering ◽  
Real Time ◽  
Discrete Time ◽  
Continuous Time ◽  
Robotic Systems ◽  
Formal Definition ◽  
Programming Environment ◽  
Control Laws ◽  
Low Levels ◽  
Definition Of

The ORCCAD programming environment for robotic systems gathers control laws in continuous time at the low levels and discrete time logical aspects at higher levels. Based upon a formal definition of robotic actions, complex applications can be designed, verified and generated incrementally. The approach and tools prototypes have been validated through several applications.

Stability of real-time hybrid simulation involving time-varying delay and direct integration algorithms

2021 ◽  
pp. 107754632110016
Author(s):  
Liang Huang ◽  
Cheng Chen ◽  
Shenjiang Huang ◽  
Jingfeng Wang
Keyword(s):  
Real Time ◽  
Discrete Time ◽  
Continuous Time ◽  
Hybrid Simulation ◽  
Time Varying ◽  
Discrete Time System ◽  
Time System ◽  
Integration Algorithms ◽  
The Stability ◽  
Continuous Time System

Stability presents a critical issue for real-time hybrid simulation. Actuator delay might destabilize the real-time test without proper compensation. Previous research often assumed real-time hybrid simulation as a continuous-time system; however, it is more appropriately treated as a discrete-time system because of application of digital devices and integration algorithms. By using the Lyapunov–Krasovskii theory, this study explores the convoluted effect of integration algorithms and actuator delay on the stability of real-time hybrid simulation. Both theoretical and numerical analysis results demonstrate that (1) the direct integration algorithm is preferably used for real-time hybrid simulation because of its computational efficiency; (2) the stability analysis of real-time hybrid simulation highly depends on actuator delay models, and the actuator model that accounts for time-varying characteristic will lead to more conservative stability; and (3) the integration step is constrained by the algorithm and structural frequencies. Moreover, when the step is small, the stability of the discrete-time system will approach that of the corresponding continuous-time system. The study establishes a bridge between continuous- and discrete-time systems for stability analysis of real-time hybrid simulation.

Deterministic Continuous-Time Signals and Systems

2021 ◽  
pp. 562-598
Author(s):  
Stevan Berber
Keyword(s):  
Discrete Time ◽  
Continuous Time ◽  
Linear Time ◽  
Continuous Variable ◽  
Linear Time Invariant ◽  
Time Signals ◽  
Analysis And Synthesis ◽  
Linear Time Invariant Systems ◽  
Definition Of ◽  
Time Invariant

Due to the importance of the concept of independent variable modification, the definition of linear-time-invariant system, and their implications for discrete-time signal processing, Chapter 11 presents basic deterministic continuous-time signals and systems. These signals, expressed in the form of functions and functionals such as the Dirac delta function, are used throughout the book for deterministic and stochastic signal analysis, in both the continuous-time and the discrete-time domains. The definition of the autocorrelation function, and an explanation of the convolution procedure in linear-time-invariant systems, are presented in detail, due to their importance in communication systems analysis and synthesis. A linear modification of the independent continuous variable is presented for specific cases, like time shift, time reversal, and time and amplitude scaling.

scholarly journals SINGULAR FRACTIONAL CONTINUOUS-TIME AND DISCRETE-TIME LINEAR SYSTEMS

2013 ◽  
Vol 7 (1) ◽  
pp. 26-33 ◽  
Author(s):  
Tadeusz Kaczorek
Keyword(s):  
Linear Systems ◽  
Discrete Time ◽  
Continuous Time ◽  
State Equation ◽  
Electrical Circuit ◽  
The State ◽  
Continuous Time Systems ◽  
Definition Of ◽  
Time Systems ◽  
Time Linear

Abstract New classes of singular fractional continuous-time and discrete-time linear systems are introduced. Electrical circuits are example of singular fractional continuous-time systems. Using the Caputo definition of the fractional derivative, the Weierstrass regular pencil decomposition and Laplace transformation the solution to the state equation of singular fractional linear systems is derived. It is shown that every electrical circuit is a singular fractional systems if it contains at least one mesh consisting of branches with only ideal supercondensators and voltage sources or at least one node with branches with supercoils. Using the Weierstrass regular pencil decomposition the solution to the state equation of singular fractional discrete-time linear systems is derived. The considerations are illustrated by numerical examples.

Classified Discrete-Time Markov Chains

2015 ◽  
pp. 87-115
Keyword(s):  
Markov Chain ◽  
Markov Chains ◽  
Discrete Time ◽  
Formal Definition ◽  
Markov Chain Models ◽  
Definition Of ◽  
Markovian Systems

The main focus of this chapter is on the formalization of classified DTMCs. The chapter begins by presenting the formalization of some foundational notions of classified states, which are categorized based on reachability, periodicity, or absorbing features. Then, these results along with the formal definition of a DTMC, presented in the previous chapter, are used to formalize classified Markov chains, such as aperiodic and irreducible DTMCs. Based on these concepts, some long-term properties are verified for the purpose of formally checking the correctness of the functions of Markovian systems or analyzing the performance of Markov chain models.

Discrete Time, Discrete Frequency

2021 ◽  
pp. 106-155
Author(s):  
Victor Lazzarini
Keyword(s):  
Signal Processing ◽  
Fourier Transform ◽  
Discrete Time ◽  
Time Domain ◽  
Continuous Time ◽  
Time Varying ◽  
Discrete Frequency ◽  
The Fourier Transform ◽  
Definition Of ◽  
The Time Domain

This chapter is dedicated to exploring a form of the Fourier transform that can be applied to digital waveforms, the discrete Fourier transform (DFT). The theory is introduced and discussed as a modification to the continuous-time transform, alongside the concept of windowing in the time domain. The fast Fourier transform is explored as an efficient algorithm for the computation of the DFT. The operation of discrete-time convolution is presented as a straight application of the DFT in musical signal processing. The chapter closes with a detailed look at time-varying convolution, which extends the principles developed earlier. The conclusion expands the definition of spectrum once more.

scholarly journals On Hybrid Adaptive and Pinning Consensus for Multiagent Networks

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Lianghao Ji ◽  
Yi Tang ◽  
Qun Liu
Keyword(s):  
Convergence Rate ◽  
Discrete Time ◽  
Continuous Time ◽  
Spanning Tree ◽  
Pinning Control ◽  
Control Laws ◽  
Numerical Examples ◽  
Multiagent Networks ◽  
Directed Spanning Tree ◽  
Pinning Scheme

The consensus problems for both continuous-time and discrete-time multiagent networks are deeply investigated by adopting hybrid adaptive and pinning control laws, respectively. Particularly, the topology of the networks needs to neither be symmetric nor contain a directed spanning tree and some useful criteria are addressed analytically. Simultaneously, a comprehensive pinning scheme is proposed as well which shows that the nodes with zero in-degree need to be pinned primarily in order to guarantee the system to achieve consensus, and then the nodes whose out-degrees are bigger than their in-degrees can give priority to be pinned compared to other nodes for improving the convergence rate of the system, whereas it is also interesting to find out that the regular rule does not always hold, that is, the more nodes are selected to be pinned, the faster the system will converge. Finally, the validity of our theoretical findings is verified by several numerical examples.

A programming environment for real-time control of distributed multiple robotic systems

2000 ◽  
Vol 14 (1) ◽  
pp. 75-86 ◽  
Author(s):  
Maurizio Piaggio ◽  
Antonio Sgorbissa ◽  
Renato Zaccaria
Keyword(s):  
Real Time ◽  
Robotic Systems ◽  
Programming Environment ◽  
Real Time Control ◽  
Time Control

scholarly journals LANGUAGE-DRIVEN SYSTEM DESIGN

2004 ◽  
Vol 14 (06) ◽  
pp. 625-663 ◽  
Author(s):  
S. MAUW ◽  
W. T. WIERSMA ◽  
T. A. C. WILLEMSE
Keyword(s):  
Software Engineering ◽  
System Design ◽  
Problem Definition ◽  
Formal Definition ◽  
Traffic Lights ◽  
Domain Specific ◽  
Driven System ◽  
Formal Problem ◽  
Definition Of ◽  
Under Construction

Studies have shown significant benefits of the use of Domain-Specific Languages (DSL) in software engineering. We discuss a software engineering methodology that fully exploits these benefits. The methodology, called the Language-Driven Approach (LDA), is centred around the design of a DSL. It prescribes a staged development of a DSL, which is tailored to the system-under-construction. On the basis of a domain analysis, a formal definition of the problem is obtained. This formal problem definition contains all the relevant ingredients for designing the syntax, the semantics and the pragmatics, which together comprise the DSL. The methodology is illustrated by an elaborate example dealing with the problem of regulating traffic lights at a traffic junction.

Eco-Grammar Systems: A Grammatical Framework for Studying Lifelike Interactions

1997 ◽  
Vol 3 (1) ◽  
pp. 1-28 ◽  
Author(s):  
Erzsébet Csuhaj-Varjú ◽  
Jozef Kelemen ◽  
Alica Kelemenová ◽  
Gheorghe Păun
Keyword(s):  
Artificial Life ◽  
Robotic Systems ◽  
Formal Definition ◽  
Suggested Model ◽  
Common Features ◽  
Grammar System ◽  
Formal Framework ◽  
Recent Developments ◽  
Grammar Systems ◽  
Definition Of

A formal framework for studying systems made up of a community of agents and their environment is proposed. The suggested model, technically based on the theory of formal grammars and called an eco-grammar system, captures some common features of ecological, economic, social, and collective robotic systems. The article contains an informal presentation as well as the formal definition of the model, presents some properties of variants of eco-grammar systems, and discusses the emergence of important lifelike features such as birth and death. Emphasis is put on results with relevance for artificial life. Some recent developments are also briefly reported.

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