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Paper Details

%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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