This paper presents a component-based framework of humanoid robot task coordination using Predicate Transition Nets (PrT Nets). Humanoid robots have a large number of degrees of freedom (DOF) and they are expected to ...
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ISBN:
(纸本)9781479934652
This paper presents a component-based framework of humanoid robot task coordination using Predicate Transition Nets (PrT Nets). Humanoid robots have a large number of degrees of freedom (DOF) and they are expected to generate human-like stable behaviors to finish missions. Their motions have to satisfy a set of constraints (balance, coordinated motions, collision free movements), which increases the complexity of the system - each movement may consist of several types of movements and tasks simultaneously. Task is defined as a sequence of movements and/or actions towards to completing a given mission. It is key to represent the task coordination precisely and correctly to program on humanoid robots' motions. To solve the challenge issue of multiple task coordination for a humanoid robot, we presented a framework that integrates componentbasedsoftware Development (CBSD) with Predicate Transition Nets to analyze the correctness of task coordinations. Each component's behavior can be represented by a Predicate Transition Net, and the constraints of the behaviors are described by a set of temporal logic formulae. To ensure the task coordinations are met, a rewriting logic-based model checker is applied to verify the system against the constraints. This formal framework is general and can be used for other type humanoid robots. It allows the representation of motion plans and provides the flexibility of semantic analysis on the humanoid robotics systems.
software patterns are a new design paradigm used to solve problems that arise when developing software within a particular context. Patterns capture the static and dynamic structure and collaboration among the compone...
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software patterns are a new design paradigm used to solve problems that arise when developing software within a particular context. Patterns capture the static and dynamic structure and collaboration among the components in a softwaredesign. A key promise of the pattern-based approach is that it may greatly simplify the construction of software systems out of building blocks and thus reuse experience and reduce cost. However, it also introduces significant problems in ensuring the integrity and reliability of these composed systems because of their complex software topologies, interactions and transactions. There is a need to capture these features as a contract through a formal model that allows us to analyze pattern-baseddesigns. In this paper, we provide an overview of a formal framework for ensuring the integrity of the compositions in object-oriented designs by providing mathematically rigorous modeling and analysis techniques for object-oriented systems comprising pattern-baseddesigns as the basic building blocks or designcomponents. A case study related to a hypermedia Web-based application has been presented to illustrate our approach in distributed systems. Copyright (c) 2005 John Wiley & Sons, Ltd.
software patterns are a new design paradigm used to solve problems that arise when developing software within a particular context. Patterns capture the static and dynamic structure and collaboration among the compone...
详细信息
ISBN:
(纸本)0769522181
software patterns are a new design paradigm used to solve problems that arise when developing software within a particular context. Patterns capture the static and dynamic structure and collaboration among the components in a softwaredesign. A key promise of the pattern-based approach is that it may greatly simplify the construction of software systems out of building blocks and thus reuse experience and reduce cost. However it also introduces significant problems in ensuring the integrity and reliability of these composed systems because of their complex software topologies, interactions, and transactions. There is a need to capture these features as a contract through a formal model that allows us to analyze pattern-baseddesigns. In this paper we provide a formal framework for ensuring the integrity of the compositions in object-oriented designs by providing mathematically rigorous modeling and analysis techniques for object-oriented systems comprising pattern baseddesigns as the basic building blocks or designcomponents. A case study related to a hypermedia web-based application is presented to illustrate our approach in distributed systems.
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