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Many tasks for autonomous agents or robots are best described by a specification of the environment and a specification of the available actions the agent or robot can perform. Combining such a specification with the possibility to imperatively program a robot or agent is what we call the actionbased imperative programming. One of the most successful such approaches is Golog. In this paper, we draft a proposal for a new robot programming language YAGI, which is based on the action-based imperative programming paradigm. Our goal is to design a small, portable stand-alone YAGI interpreter. We combine the benefits of a principled domain specification with a clean, small and simple programming language, which does not exploit any side-effects from the implementation language. We discuss general requirements of action-based programming languages and outline YAGI, our action-based language approach which particularly aims at embeddability.
Es wird von Gleichungen ausgegangen, mit denen die Modellkoeffizienten von Regelstrecken mit Ausgleich aus der gemessenen Sprungantwort ermittelt werden können. Die Übertragungsfunktion der Regelstrecke hat einen konstanten Zähler und ein Nennerpolynom. Unter der Annahme, daß die ideale und exakte Sprungantwort des Systems durch ein stochastisches Signal gestört wird, wird untersucht, wie die Fehler der ermittelten Modellkoeffizienten von Kennwerten des Störsignals und von der Meßzeit für die Sprungantwort abhängen. Durch eine Simulation auf dem Digitalrechner wurden die Ergebnisse kontrolliert. Es zeigt sich, daß durch eine Filterung der gestörten Sprungantwort über einen Tiefpaß keine Verbesserung der Analyseergebnisse erreicht werden kann, da das Identifizierungsverfahren eine glättende Eigenschaft hat.
Für viele Zwecke ist es nützlich, von einem technischen System ein mathematisches Modell zu haben. Für Systeme, die sich durch eine Verzögerung höherer Ordnung mit oder ohne Ausgleich beschreiben lassen, wird ein Identifizierungsverfahren vorgestellt, das aus gemessenen Zeitfunktionen die Bestimmung einer Übertragungsfunktion ermöglicht. Die Systeme werden dabei durch Testsignale erregt. Die Modellkoeffizienten werden dann mit Hilfe eines Integrationsverfahrens aus dem Testsignal und der Antwort des Systems auf dieses Testsignal bestimmt. Ein praktisches Beispiel zeigt die Leistungsfähigkeit des Verfahrens.
Advanced on-wafer multiport calibration methods for mono- and mixed-mode device characterization
(2004)
Novel balanced inductor for compact differential systems / Sadeghfam, Arash; Heuermann, Holger
(2004)
Modeller for Value Systems
(1997)