E. Shkel and N. J. Ferrier. Specifying and verifying visual grasping tasks. In Proceedings of the  Home/Search   Document Details and Download   Summary   Related Articles

.... Second, traditional design methods based on separate mathematical models of each electrical and mechanical component and statistical models of the timing behaviour of the controller programs has led to systems with chaotic behaviour, because performance is very sensitive to initial conditions [SF97] To overcome these problems developers in robotics should consider integration of the components during the design. Moreover when specifying system requirements a coherent and mathematically well founded formalism integrating the continuous dynamic properties with the discrete controller ....

....be used to apply mathematical reasoning to determine whether a system design conforms to specific requirements. 1 Because robotic systems in contrast to other real time control systems usually exhibit asynchronous behaviour, they cannot be modeled by states that change at fixed time steps [SF97] Hence, a formalism applicable to systems with varying time transitions is required. Duration Calculus (DC) ZHR91, HC97] is a temporal logic possessing these properties. Further, DC makes it possible to formalize properties of real time hybrid systems with interacting continuous and discrete ....

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E. Shkel and N. J. Ferrier. Specifying and verifying visual grasping tasks. In Proceedings of the

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