An approach to logic object oriented concurrent robot programming and performance aspects:
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Mikrofilm Buch |
| Sprache: | English |
| Veröffentlicht: |
1996
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| Ausgabe: | [Mikrofiche-Ausg.] |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Paderborn, Univ. Gesamthochsch., Diss., 1996. - Mikrofiche-Ausg.: 3 Mikrofiches : 24x |
| Beschreibung: | X, 219 S. Ill., graph. Darst. |
Internformat
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Datensatz im Suchindex
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| adam_text | Titel: An approach to logic, object oriented concurrent robot programming and performance aspects
Autor: Pollmann, Alfried
Jahr: 1996
Contents
Notations and Symbols v
I General Concepts 1
1 Introduction 3
1.1 Programming Aspects for Robot Controlling 3
1.2 Parallelism and Concurrency 5
1.3 Structure of the Work 5
2 Programming Languages for Robot Controlling 7
2.1 Robot Controlling Tasks 7
2.1.1 Robot Capabilities 7
2.1.2 Robot Applications 8
2.2 Robot Language Classification 11
2.3 Essential Features of Robot Programming Languages 12
2.3.1 Concurrent Processing 12
2.3.2 Knowledge Processing 13
2.3.3 Object-Oriented Programming 14
2.3.4 Global Control of the Working Cell 15
2.3.5 Programming Support and Language Type 16
2.3.6 Sensing 17
2.3.7 Complex Motion Instructions 18
2.4 Comparison of Robot Language Features 18
2.4.1 A Critical Review 18
2.4.2 An Alternative Approach to Robot Programming 20
3 Object-Orientation and Logic Programming 21
3.1 Object-Orientation and Logic Programming vs. Concurrency ... 21
3.1.1 Features of Object-Orientation Supporting Concurrency . . 21
3.1.2 Inheritance and Concurrency 23
3.1.3 Features of Logic Programming Fostering Concurrency . . . 25
3.2 Motivation for Object-Orientation in Prolog 27
3.2.1 Benefits of PROLoop 27
3.2.2 Adding of PROLoop 29
i
II Robot Programming and Concurrency 31
4 PROLoop for Robot Programming 33
4.1 Specification of Basic PROLoop Properties 33
4.1.1 Basic Notations 33
4.1.2 Classes and Method Definition 34
4.1.3 Instances and Instance Variables 35
4.1.4 Name Server 38
4.2 The Message Passing System 39
4.2.1 Notational Preliminaries 39
4.2.2 The Message Passing Protocol 39
4.2.3 Formal Specification of the Message Passing Modes 40
4.2.4 Synchronous Message Passing for Robot Controlling .... 46
4.2.5 Asynchronous Message Passing for Robot Controlling ... 50
4.3 An Approach to Solve Concurrency Control Problems 56
4.3.1 The Sharing Problem 56
4.3.2 Concurrency Control during Instance Accessment 57
4.3.3 Multi-Robot Control 59
5 The Object-Oriented Robot Programming Environment 63
5.1 Class Hierarchy of the Programming Environment 63
5.1.1 Class environment-model 64
5.1.2 Class sensor 67
5.1.3 Class robot 72
5.1.4 Class planning 74
5.2 Software Structure 74
5.2.1 The C-Interface 75
5.2.2 CS-Prolog — A Communicating Sequential Prolog 75
5.3 The Hardware Components 79
5.3.1 Brief Introduction to Transputer Technology 79
5.3.2 The Experimental Environment 81
5.4 Multi-Robot Control Examples 82
III Performance Aspects 89
6 Task Scheduling for Concurrent Robot Control 91
6.1 Scheduling — Definitions, Criteria, Methodologies 91
6.1.1 Basic Notations 92
6.1.2 Complexity of Schedule Length Optimization 94
6.2 The Algorithm for Parallel Processor Scheduling 96
6.2.1 Scheduling Assumptions 96
6.2.2 The Heuristics of the Scheduling Algorithm 97
6.2.3 Quality of the Algorithm 101
6.3 Scheduling Environment of PROLoop 102
6.3.1 User-Based Scheduling Methodology 102
6.3.2 A System-Supported Heuristic Scheduling Technique .... 103
6.4 Scheduling Examples 10-1
7 Performance Analysis 115
7.1 Performance Assessment 115
7.1.1 Basic Notions 115
7.1.2 Performance Measurements of typical Robot, Applications . 117
7.1.3 Performance Affecting Criteria 118
7.2 System Translation Times 119
7.2.1 Determination of the Translation Times 120
7.2.2 Postprocessor Translation Time 123
7.2.3 Performance of CS-Prolog 126
7.3 Object and Method Allocation 129
7.4 Communication Cost 129
7.4.1 Data Transfer Modes 129
7.4.2 Startup Time Estimation 132
7.5 Effect of Class Hierarchy Variation 133
7.5.1 Class Depth Variation 134
7.5.2 Class Width Variation 136
7.6 Results of the Performance Analysis 138
8 Summary 141
8.1 The Results of this Work 141
8.2 Future Problems 143
Bibliography 145
IV Appendices 157
A Elements of Object-Orientation 159
A.I Principles of Object-Orientation 159
A.2 The Basic Concepts of Object-Orientation 161
B General Properties of CS-Prolog 165
B.I A Survey of Logic Programming 105
B.2 CS-Prolog - A Concurrent Extension of Prolog for Multi-Transputer 167
B.3 The Language Concept of CS-Prolog 168
B.4 Control Mechanism in CS-Prolog Programs 172
C The Overall Concept of the Experimental Robot Programming
System 175
C.I Theory of Petri-Nets 175
C.I.I The Characteristics of Petri-Nets 175
C.1.2 The Functionality of Petri-Nets 176
C.1.3 Special Petri-Nets: Predicate/Transition Nets 176
C.2 The Hierarchical Structure of the Model 178
C.2.1 The KL 178
C.2.2 The FL 180
C.3 The Petri-Net Structure of the Model 188
D A Formal Representation of the Experimental Programming En¬
vironment 191
D.I Survey of Methods for Robot and Sensor Control 191
D.2 Syntax Diagrams 197
E Applications for Robot Control 203
E.I Robot Applications of Chapter 6 203
E.2 Robot Applications of Chapter 7 204
E.2.1 Performance Measurements 204
E.2.2 Class Structure Variation 208
F Overview of Robot Languages 211
F.I Survey of Robot Programming Languages 211
F.2 Introduction into Existing Robot Languages 214
F.2.1 Robot-Level Programming 214
F.2.2 Structured Programming Level 215
F.2.3 Task-Level Programming 217
F.3 Analysis of Robot Language Features 217
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| language | English |
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| spelling | Pollmann, Alfried Verfasser aut An approach to logic object oriented concurrent robot programming and performance aspects von Alfried Pollmann An approach to logic-object-oriented concurrent robot programming and performance aspects [Mikrofiche-Ausg.] 1996 X, 219 S. Ill., graph. Darst. txt rdacontent h rdamedia he rdacarrier Paderborn, Univ. Gesamthochsch., Diss., 1996. - Mikrofiche-Ausg.: 3 Mikrofiches : 24x Industrieroboter - Nebenläufigkeit - Logische Programmierung - Objektorientierte Programmierung Logische Programmierung (DE-588)4195096-3 gnd rswk-swf Objektorientierte Programmierung (DE-588)4233947-9 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Roboter (DE-588)4050208-9 s Logische Programmierung (DE-588)4195096-3 s Objektorientierte Programmierung (DE-588)4233947-9 s DE-604 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007323918&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Pollmann, Alfried An approach to logic object oriented concurrent robot programming and performance aspects Industrieroboter - Nebenläufigkeit - Logische Programmierung - Objektorientierte Programmierung Logische Programmierung (DE-588)4195096-3 gnd Objektorientierte Programmierung (DE-588)4233947-9 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4195096-3 (DE-588)4233947-9 (DE-588)4050208-9 (DE-588)4113937-9 |
| title | An approach to logic object oriented concurrent robot programming and performance aspects |
| title_alt | An approach to logic-object-oriented concurrent robot programming and performance aspects |
| title_auth | An approach to logic object oriented concurrent robot programming and performance aspects |
| title_exact_search | An approach to logic object oriented concurrent robot programming and performance aspects |
| title_full | An approach to logic object oriented concurrent robot programming and performance aspects von Alfried Pollmann |
| title_fullStr | An approach to logic object oriented concurrent robot programming and performance aspects von Alfried Pollmann |
| title_full_unstemmed | An approach to logic object oriented concurrent robot programming and performance aspects von Alfried Pollmann |
| title_short | An approach to logic object oriented concurrent robot programming and performance aspects |
| title_sort | an approach to logic object oriented concurrent robot programming and performance aspects |
| topic | Industrieroboter - Nebenläufigkeit - Logische Programmierung - Objektorientierte Programmierung Logische Programmierung (DE-588)4195096-3 gnd Objektorientierte Programmierung (DE-588)4233947-9 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Industrieroboter - Nebenläufigkeit - Logische Programmierung - Objektorientierte Programmierung Logische Programmierung Objektorientierte Programmierung Roboter Hochschulschrift |
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