Composed, and in Control: Programming the Timber Robot
نویسندگان
چکیده
This paper describes the implementation of control algorithms for a mobile robot vehicle using the programming language Timber, which offers a high-level, declarative approach to key aspects of embedded systems development such as real-time control, event handling, and concurrency. In particular, we show how Timber supports an elegant, compositional approach to program construction and reuse— from smaller control components to more complex, higher-level control applications—without exposing programmers to the subtle and errorprone world of explicit concurrency, scheduling, and synchronization.
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملConceptual Design of a Gait Rehabilitation Robot
Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملNumerical Modelling of Timber Braced Frame Masonry Structures (Dhajji Dewari)
This paper presents numerical modeling technique for Dhajji-Dewari structures (timber-braced rubble stone masonry), and its application for the evaluation of in-plane force-deformation capacity of Dhajji wall panels of different configuration of bracings. Dhajji structures are mainly composed of vertical and horizontal timber posts and braced using diagonal bracings and horizontal studs. Wall o...
متن کامل