2014/08/05 by Yingfu Zeng, Chad Rose, Zeng, Yingfu +13
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.1408.1110
Presented at DSLRob 2013 (arXiv:cs/1312.5952)
arxiv created 2014/08/05 · arxiv updated 2014/08/07
We continue to consider the question of what language features are needed to effectively model cyber-physical systems (CPS). In previous work, we proposed using a core language as a way to study this question, and showed how several basic aspects of CPS can be modeled clearly in a language with a small set of constructs. This paper reports on the result of our analysis of two, more complex, case studies from the domain of rigid body dynamics. The first one, a quadcopter, illustrates that previously proposed core language can support larger, more interesting systems than previously shown. The second one, a serial robot, provides a concrete example of why we should add language support for static partial derivatives, namely that it would significantly improve the way models of rigid body dynamics can be expressed.