%T A multimodal robotic control law modelled and implemented by the CSP \- GML/CT framework
%A Gerald H. Hilderink, Dusko S. Jovanovic, Jan F. Broenink
%E Jan F. Broenink, Gerald H. Hilderink
%B Communicating Process Architectures 2003
%X 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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