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An approach to SysML and simulink based motion controller design for inverted pendulum robots

An approach to SysML and simulink based motion controller de...

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50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Phaoharuhansa, Danai Shimada, Akira Division of Electronical Engineering and Computer Science Shibaura Institute of Technology Tokyo Japan Department of Engineering and Design Shibaura Institute of Technology Tokyo Japan

ISBN: (纸本)9784907764395

Nowadays, a lot of inverted pendulum robots have been developed. The complexity of the dynamical control systems is increased and they are advanced toward autonomous inverted pendulum robots. When the controllers are designed, the software MATLAB/Simulink is often used. It is well known that it is a very useful tool to design and analyze motion control systems. However, it is not always useful to express huge or multifunctional systems. At that time, System Modeling language (SysML) is known as a useful tool for that system design. Then it seems the usage of the both tools are useful. In order to develop the inverted pendulum robots in practice, we need multi-stand points for the real time systems. We have to study the both of them and investigate how to fill the gap. This paper introduces our requirement, overview of inverted pendulum robot system, hardware configurations, and map the balancing control using observer based control from Simulink model to SysML models. Furthermore, SysML is a guideline to define the interconnection between functions and combine them together. © 2011 SICE.

关键词： Simulink

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An Approach to SysML and Simulink Based Motion Controller Design for Inverted Pendulum Robots

An Approach to SysML and Simulink Based Motion Controller De...

引用

SICE Annual Conference

作者： Danai Phaoharuhansa Akira Shimada Division of Electronical Engineering and Computer Science Shibaura Institute of Technology Department of Engineering and Design Shibaura Institute of Technology

ISBN: (纸本)9781457707148

关键词： SysML Simulink Inverted pendulum Robot

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MemScroll: Dynamic Memory Errors Detector in C Programs

MemScroll: Dynamic Memory Errors Detector in C Programs

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IEEE Annual International computer Software and Applications Conference (COMPSAC)

作者： Dae Wan Cho Seunguk Oh Hyeon Soo Kim Department of Computer Science and Engineering Chungnam National University Daejeon South Korea Division of Computer Science Department of Electronical Eng. and Computer Sc. KAIST Daejeon South Korea

Memory access errors are frequently occurred in computer programs written in C language. Such memory errors are one of the principal reasons for failures of C programs. Accordingly, a number of research works have suggested various techniques to detect them automatically. However, existing techniques have one or more of the following problems: inability to detect all memory errors, changing the memory allocation mechanism, incompatibility with libraries, and excessive performance overheads. To cope with these problems, in this paper we suggest a new and automated tool to detect dynamic memory access errors in C programs. The primary goal of our approach is to present a tool with high precision, better performance, and the relatively low space overheads.

关键词： Detectors computer errors Runtime Instruments Arithmetic computer science Software libraries Read-write memory computer languages Control systems

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