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Coordination Specification for CIRSSE Robotic Platform System Using Petri Net Transducers
FEI-YUE WANG; MICHAEL MITTMANN; GEORGE N. SARIDIS
1994
发表期刊Journal of Intelligent and Robotic Systems
卷号9期号:2页码:209-233
摘要-  ;
A formal model based on Petri net transducers has been developed to specify the coordination and communication among the various task units in the CIRSSE platform system for robotic construction in space stations. The specification guarantees a mechanism of coherent control and communication for the effective cooperation among the different task units, and outlines the major steps toward the integration of the robotic platform system. The model is based on a coordination structure consisting of one dispatcher and three coordinators representing, respectively, the motion, vision, and gripper units of the platform system. The coordination structure insures some desired process properties for the system, such as boundedness, liveness, and reversibility, and easier translation from the formal specifications to the program codes based on Petri net transducer models. The model also assists with the system development in many ways, including (i) reducing the number of errors introduced while converting specifications to codes; (ii) assisting the developers in program implementation and verification (iii) allowing quicker adaptation to changed specifications; and (iv) allowing easier testing of the results for specification modifications. Therefore, it provides a useful tool for the design, simulation, performance evaluation, and implementation verification of the CIRSSE robotic platform system.
关键词Petri Net Transducer Coordination Structure Command Language Communication Intelligent Machines.
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14199
专题09年以前成果
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GB/T 7714
FEI-YUE WANG,MICHAEL MITTMANN,GEORGE N. SARIDIS. Coordination Specification for CIRSSE Robotic Platform System Using Petri Net Transducers[J]. Journal of Intelligent and Robotic Systems,1994,9(2):209-233.
APA FEI-YUE WANG,MICHAEL MITTMANN,&GEORGE N. SARIDIS.(1994).Coordination Specification for CIRSSE Robotic Platform System Using Petri Net Transducers.Journal of Intelligent and Robotic Systems,9(2),209-233.
MLA FEI-YUE WANG,et al."Coordination Specification for CIRSSE Robotic Platform System Using Petri Net Transducers".Journal of Intelligent and Robotic Systems 9.2(1994):209-233.
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