Robotic software is now one of essential part of robotic system development, therefore software control architecture design methods and concepts, often inspired by engineering software field, are necessary within a robotic project to enhance evolution, modularity and re-usability, and to avoid redesign costs [1]. Control software architecture design approaches are usually classified into three ...

Usually, it is the software manufacturer who employs verification or testing to ensure that the software embedded in a device meets its main objectives. However, these days we are confronted with the situation that economical or technological reasons might make a manufacturer become interested in the software slightly deviating from its main objective for dubious reasons. Examples include lock-...

A well designed traditional software system is capable of recognising and either avoiding or recovering from a number of expected events. However, during the design phase it is not possible to envision and thus equip the software to handle all events or perturbations that can occur; this limits the extent of adaptability that can be achieved. Alternatively a goal-oriented system has the potenti...

limitation of the FSM approach is that resources that are shared across multiple activities are treated as normal inputs to those activities; this ignores resource allocation problems, such as deadlock. It is likely that more states would need to be added to the Finite State Machine to detect, prevent and resolve these problems. Acknowledgements The helpful advice and assistance of Martin Hilto...

Embedded controllers for reactive real-time applications are implemented as mixed software-hardware systems. In CLJ + 93], a formal speciication model called Co-design Finite State Machine (CFSM) is introduced. In this paper we present a methodology for partitioning and automatic synthesis of software-hardware systems speciied with CFSMs. CFSM networks are partitioned into software and hardware...

Decolorization of aqueous solutions containing ionic dyes (Reactive Blue 19 and Acid Black 172) by a TFC commercial polyamide nanofilter (NF) in a spiral wound configuration was studied. The effect of operating parameters including feed concentration (60-180 mg/l), pressure (0.5-1.1 MPa) and pH (6-10) on dye removal efficiency was evaluated. The response surface method (RSM) was utilized for th...

This paper presents modeling, simulation and control of matrix converter (MC) for variable speed wind turbine (VSWT) system including permanent magnet synchronous generator (PMSG). At a given wind velocity, the power available from a wind turbine is a function of its shaft speed. In order to track maximum power, the MC adjusts the PMSG shaft speed.The proposed control system allowing independen...

This paper presents the modeling and simulation results of Z-Source Inverter based Static Compensator (STATCOM).The thirty bus system with and without STATCOM are modeled and simulated using the MATLAB software. The present work proposes Z-Source Inverter for the control of reactive power. Z-Source inverter would ensure a constant DC voltage across the DC link during the process of voltage. The...

Software architectures for agent technology and robots have been polarized between reactive architectures and architectures based on planning and reasoning. Although hybrid architectures have been shown to offer benefits from both, these seem complicated to integrate. In this paper we integrate the reactive nature of finite state machines and the reasoning capabilities of non-monotonic logics t...