Coordination Specification for Distributed Optimal System Design Using the Chi Language

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76202/1/AIAA-2002-5410-847.pd

Coordination Specification of the Analytical Target Cascading Process using the Chi Language

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76587/1/AIAA-2002-5637-610.pd

Nonconflict check by using sequential automaton abstractions Citation for published version (APA): Nonconflict Check by Using Sequential Automaton Abstractions

Abstract In Ramadge-Wonham supervisory control theory we often need to check nonconflict of plants and corresponding synthesized supervisors. For a large system such a check imposes a great computational challenge because of the complexity incurred by composition of plants and supervisors. In this paper we present a novel procedure based on automaton abstractions, which removes internal transitions of relevant automata at each step, allowing the nonconflict check to be performed over relatively small automata, even though the original system can be fairly large

Syntax and Formal Semantics of Chi 2.0 12

This report defines the syntax and formal semantics of the Chi 2.0 formalism. The Chi formalism integrates concepts from dynamics and control theory with concepts from computer science, in particular from process algebra and hybrid automata. It combines a high expressivity and ease of modeling with a formal semantics. The Chi language is defined by means of an abstract and a concrete syntax. The purpose of the abstract syntax is to allow a straightforward definition of the structured operational semantics (SOS), which associates a hybrid transition system with a Chi process. The Chi Semantics is compositional, and bisimulation is a congruence for all operators. The concrete syntax offers modeling equivalents for the elements of the abstract syntax, and it introduces new syntax to ensure better readability and easier modeling. The meaning of the concrete syntax is defined by means of a mapping to the abstract syntax. The Chi language provides among others discrete, continuous, and algebraic variables, and equation process terms for modeling differential algebraic equations (DAEs), including fully implicit or switched DAEs. Steady state initialization can be specified, and higher index DAEs in Chi are equivalent to the corresponding index 1 DAEs, obtained after differentiation of the hidden constraints. The invariant process term in Chi corresponds to invariants in hybrid automata The following operators are provided (among others): the parallel composition, alternative composition (choice), and sequential composition operators; and the recursion scope operator for modeling automata. The parallel composition operator allows shared variables, shared synchronizing and non-synchronizing action labels, and shared CSP channels for synchronous communication. Two main ways of expressing urgency are provided: First, action labels and channels can be declared as urgent. Delaying is possible only if, and for as long as no urgent actions are enabled. Synchronizing actions are enabled only when the guards of all participating actions in a parallel composition are enabled. Second, urgency can be defined locally by means of the time can progress (tcp) process term, which allows delays for as long as the tcp predicate is true. Scope operators are available for hierarchical modeling. They are used to declare local variables, local action labels, and local channels. Process definition and instantiation provide process re-use and encapsulation. Hybrid automata and networks of hybrid automata can easily be expressed in Chi. Since Chi is a process algebra, its operators can be arbitrarily combined, resulting in a high modeling flexibility

Coordination specification in distributed optimal design of multilevel systems using the χ language

Coordination plays a key role in solving decomposed optimal design problems. Several coordination strategies have been proposed in the multidisciplinary optimization (MDO) literature. They are usually presented as a sequence of statements. However, a precise description of the concurrency in the coordination is needed for large multilevel or non-hierarchic coordination architectures. This article proposes the use of communicating sequential processes (CSP) concepts from concurrency theory for specifying and implementing coordination strategies in distributed multilevel optimization rigorously. CSP enables the description of the coordination as a number of parallel processes that operate independently and communicate synchronously. For this purpose, we introduce elements of the language χ, a CSP-based language that contains advanced data modeling constructs. The associated software toolkit allows execution of the specified coordination. Coordination specification using χ is demonstrated for analytical target cascading (ATC), a methodology for design optimization of hierarchically decomposed multilevel systems. It is shown that the ATC coordination can be compactly specified for various coordination schemes. This illustrates the advantage of using a high-level concurrent language, such as χ, for specifying the coordination of distributed optimal design problems. Moreover, the χ software toolkit is useful in implementing alternative schemes rapidly, thus enabling the comparison of different MDO methods.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/46086/1/158_2004_Article_467.pd

Decomposition analysis of the multidisciplinary coupling in LED System-in-Package design using a DSM and a specification language

LED System-in-Package (SiP) aims to reduce manufacturing and material costs of LED lighting products through integration of components into one single package, based on semiconductor technology. This introduces multidisciplinary coupling in the system behavior which requires reconsideration of the existing LED design decomposition practice. This paper presents our method to do a decomposition analysis of the multidisciplinary coupling structure for an industry scale LED SiP design problem. The innovative aspect of our method is the use of a specification language to specify the input-output (binary) relationships between design variables, behavioral responses, objective and constraint responses. A design structure matrix, representing the mutual linkage, is automatically generated from the specification. The rows and columns of the DSM are subsequently re-ordered using partitioning and sequencing algorithms to provide insight in the coupling structure. The method is illustrated by means of a simplified example. Subsequently, the results for a recently manufactured LED SiP design prototype are presented

Tech United Eindhoven @Home 2019 champions paper

\u3cp\u3eThis paper provides an overview of the main developments of the Tech United Eindhoven RoboCup @Home team. Tech United uses an advanced world modeling system called the Environment Descriptor. It allows straightforward implementation of localization, navigation, exploration, object detection & recognition, object manipulation and robot-robot cooperation skills based on the most recent state of the world. Other important features include object and people detection via deep learning methods, a GUI, speech recognition, natural language interpretation and a chat interface combined with a conversation engine. Recent developments that aided with obtaining the victory during RoboCup 2019 include pointing detection, usage of HSR’s display, a people detector and the addition of a custom keyboard in the chat interface.\u3c/p\u3