Related papers: Extending UML-RT for Control System Modeling
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…
Future machine learning (ML) powered applications, such as autonomous driving and augmented reality, involve training and inference tasks with timeliness requirements and are communication and computation intensive, which demands for the…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
Design of large software systems requires rigorous application of software engineering methods covering all phases of the software process. Debugging during the early design phases is extremely important, because late bug-fixes are…
Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…
Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…
Any traditional engineering field has metrics to rigorously assess the quality of their products. Engineers know that the output must satisfy the requirements, must comply with the production and market rules, and must be competitive.…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…
The Unified Modeling Language (UML) is a widely used general purpose modeling language. Together with the Object Constraint Language (OCL), formal models can be described by defining the structure and behavior with UML and additional OCL…
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…
The development of concurrent applications is challenging because of the complexity of concurrent designs and the hazards of concurrent programming. Architectural modeling using the Unified Modeling Language (UML) can support the…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
The Unified Software Development Process (USDP) and UML have been now generally accepted as the standard methodology and modeling language for developing Object-Oriented Systems. Although Agent-based Systems introduces new issues, we…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…
Time-Sensitive Networking (TSN) is a set of standards that provide low-latency, high-reliability guarantees for the transmission of traffic in networks, and it is becoming an accepted solution for complex time-critical systems such as those…
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…
A self-adaptive software system modifies its behavior at runtime in response to changes within the system or in its execution environment. The fulfillment of the system requirements needs to be guaranteed even in the presence of adverse…
More and more works are done on the design of the Unified Modeling Language (UML) which is designed to help us for modeling effective object oriented software, Existing Object-Oriented design methods are not mature enough to capture…