Modeling an AERCam: A case study in modeling with concurrent constraint languages
نویسندگان
چکیده
This paper presents a model for the Sprint AERCam, a beachball sized robotic camera that floats around in the cargo bay of the Space Shuttle, allowing the astronauts and ground mission control to have an additional view of the task they are trying to accomplish. It has a self contained propulsion system, giving it the capability to maneuver with six degrees of freedom. We present a model for the AERCam written in Hybrid cc, an extension of cc programming for modeling continuous/discrete systems. We modeled both the dynamics and control of the AERCam in Hybrid cc, and interfaced this model with an animation interface which allows a user to interact with the model in real-time.
منابع مشابه
Timed Concurrent Constraint Programming with Instantaneous Computations 4
The timed concurrent constraint programming language (tccp in short), was introduced for modeling reactive systems. This language allows one to model in a very intuitive way typical ingredients of these systems such as timeouts, preemptions, etc. However, there is no natural way for modeling other desirable features such as functional computations, for example for calculating arithmetic results...
متن کاملModeling Hybrid Systems in the Concurrent Constraint Paradigm
Hybrid systems, which combine discrete and continuous dynamics, require quality modeling languages to be either described or analyzed. The Concurrent Constraint paradigm (ccp) is an expressive declarative paradigm, characterized by the use of a common constraint store to communicate and synchronize concurrent agents. In this paradigm, the information is stated in the form of constraints, in con...
متن کاملModeling Hybrid Systems in Hy-tccp
Concurrent, reactive and hybrid systems require quality modeling languages to be described and analyzed. The Timed Concurrent Constraint Language (tccp) was introduced as a simple but powerful model for reactive systems. In this paper, we present hybrid tccp (hytccp), an extension of tccp over continuous time which includes new constructs to model the continuous dynamics of hybrid systems.
متن کاملBridging the Gap between Two Concurrent Constraint Languages
The Concurrent Constraint Paradigm (cc in short) is a simple and highly expressive formalism for modeling concurrent systems where agents execute asynchronously, interacting among them by adding and consulting constraints in a global store. The cc model replaces the notion of store-as-valuation with the notion of store-as-constraint. There exist several programming languages that extend the cc ...
متن کاملKinematic and Dynamic Analysis of Tripteron, an Over-constrained 3-DOF Translational Parallel Manipulator, Through Newton-Euler Approach
In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...
متن کامل