scholarly journals Scratch-Based User-Friendly Requirements Definition for Formal Verification of Control Systems

2020 ◽  
pp. 223-238
Author(s):  
Iwona GROBELNA
Keyword(s):  
Formal Verification ◽  
Control Systems ◽  
Requirements Definition ◽  
User Friendly

scholarly journals Dunuen: A User-Friendly Formal Verification Tool

2019 ◽  
Vol 159 ◽  
pp. 1431-1438
Author(s):  
Giovanni Capobianco ◽  
Umberto Di Giacomo ◽  
Francesco Mercaldo ◽  
Antonella Santone
Keyword(s):  
Formal Verification ◽  
Verification Tool ◽  
User Friendly

Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans

2002 ◽  
Vol 14 (5) ◽  
pp. 514-519 ◽  
Author(s):  
Ryojun Ikeura ◽  
◽  
Hikaru Inooka ◽  
Kazuki Mizutani ◽  
Keyword(s):  
Control Systems ◽  
Impedance Control ◽  
Subjective Evaluation ◽  
Robot Controller ◽  
User Friendly ◽  
Force Characteristics

Robots will be expected to be user-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work adapting to human characteristics. We have developed control for robots and humans cooperating in carrying an object. To make the robot controller, we studied cooperation force characteristics of two humans and developed variable impedance control for a robot. Variable impedance control for a robot we developed is evaluated subjectively. Results of subjective evaluation give the proposed variable impedance control high marks.

An Open Code for the Dynamic Simulation of Multibody Systems

2004 ◽  
Author(s):  
Pietro Fanghella ◽  
Carlo Galletti ◽  
Giorgio Torre
Keyword(s):  
Control Systems ◽  
Multibody Systems ◽  
Object Oriented ◽  
General Purpose ◽  
External Control ◽  
Common Environment ◽  
Flexible Bodies ◽  
Kinematic Chains ◽  
Dynamic Simulator ◽  
User Friendly

The paper presents several features of a dynamic simulator for multibody systems. Its main characteristics are the following: it can deal with mechanisms with open and closed kinematic chains, allows definitions of rigid and flexible bodies, permits definitions of complex non-standard dynamic actions by a powerful and well-known general-purpose simulation package, and provides links to user-friendly interfaces for result displaying and interfacing with external control systems. In order to perform all these actions, a common environment based on Matlab has been established. The software is implemented using the Matlab object-oriented language. The first part of the paper provides a basic discussion of the mathematical approach followed to model multibody systems, then the actual software implementation is described. The designed software architecture is open and allows great model generality; moreover, the software can be optimized and tailored to specific multibody models in order to obtain good computational efficiency. Integration aspects in Simulink and VRML environments are analyzed.

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