Robotic Design Choice Overview Using Co-Simulation and Design Space Exploration

Robotic design choice overview using co-simulation

Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modelling that combines discrete-event models of controller software with continuous-time models of physical robot components. The presented co-modelling method utilized VDM for discrete-event and 20-sim for continuous-time m...

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

A Power Aware Cache and Register File Design Space Exploration

Efficient architecture/compiler co-exploration using analytical models

The hardware/software co-exploration is a critical phase for a broad range of embedded platforms based on the System-On-Chip approach. Traditionally, the compilation and the architectural design sub-spaces have been explored independently. Only recently, some approaches have analyzed the problem of the concurrent exploration of the compilation/architecture sub-spaces. This paper proposes a fram...