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A Model Problem for an Open Robotics Controller

July 2004 Technical Note
Scott Hissam, Mark H. Klein

This report describes the model problem created to support the continued enhancement and development of the PECT reasoning frameworks for an industrial trial in the domain of industrial robotics.

Publisher:

Software Engineering Institute

CMU/SEI Report Number

CMU/SEI-2004-TN-030

Abstract

This report describes the model problem created to support the continued enhancement and development of the prediction-enabled component technology (PECT) reasoning frameworks for an industrial trial in the domain of industrial robotics. The model problem described in this report is an abstract representation of the parallel tasking and component configuration typically seen in a successful industrial robotics controller. Although motivated by the domain of industrial robotics, the model problem is applicable to other domains typified by embedded control systems consisting of both periodic and stochastic behavior and using fixed-priority scheduling with real-time performance characteristics.