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Paper Details

  title = "{A} multimodal robotic control law modelled and implemented by the {CSP} - {GML}/{CT} framework",
  author= "Hilderink, Gerald H. and Jovanovic, Dusko S. and Broenink, Jan F.",
  editor= "Broenink, Jan F. and Hilderink, Gerald H.",
  pages = "315--334",
  booktitle= "{C}ommunicating {P}rocess {A}rchitectures 2003",
  isbn= "1 58603 381 6",
  year= "2003",
  month= "sep",
  abstract= "We use several formal methodologies for developing control
     applicationsat our Control Engineering research group. An
     important methodology we use fordesigning and implementing
     control software architecture is based on CSP concepts.These
     concepts allow us to glue multidisciplinary activities
     together and allow forformal stepwise refinement from design
     down to its implementation. This paperillustrates a
     trajectory and shows the usefulness of CSP diagrams for a
     simplemechatronic system. The simulation tool 20-SIM is used
     for creating the controllaws and our CTC++ package is used
     for coding in C++."

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