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1、AFOUNDATIONFORTHEDESIGNANDANALYSISOFROBOTICSYSTEMSANDBEHAVIORSbyZHANGYINGB.Sc.,ZhejiangUniversity,China,1984M.Sc.,ZhejiangUniversity,China,1987M.Sc.,TheUniversityofBritishColumbia,1989ATHESISSUBMITTEDINPARTIALFULFILLMENTOFTHEREQUIREMENTSFORTHEDEGREEOFDOCTOROFPHILOSOPHYinTHEFACULTYOF
2、GRADUATESTUDIES(DepartmentofComputerScience)Weacceptthisthesisasconformingtotherequiredstandard............................................................................................................................................................................................
3、THEUNIVERSITYOFBRITISHCOLUMBIASeptember1994cZhangYing,1994TotheMemoryandSpiritofMyGrandmother
4、LadyFireandIceAbstractRobotsaregenerallycomposedofelectromechanicalpartswithmultiplesensorsandac-tuators.Theoverallbehaviorofarobotemergesfromcoordinationamongitsvariouspartsandinteractionw
5、ithitsenvironment.Developingintelligent,reliable,robustandsaferobots,orreal-timeembeddedsystems,hasbecomeafocusofinterestinrecentyears.Inthisthesis,weestablishafoundationformodeling,specifyingandverifyingdiscrete/continuoushybridsystemsandtakeanintegratedapproachtothedesignandanalys
6、isofroboticsystemsandbehaviors.Aroboticsystemingeneralisahybriddynamicsystem,consistingofcontinuous,discreteandevent-drivencomponents.Wedevelopasemanticmodelfordynamicsystems,thatwecallConstraintNets(CN).CNintroducesanabstractionandaunitaryframeworktomodeldiscrete/continuoushybridsy
7、stems.CNprovidesaggregationoperatorstomodelacomplexsystemhierarchically.CNsupportsmultiplelevelsofabstraction,basedonabstractalgebraandtopology,tomodelandanalyzeasystematdi erentlevelsofdetail.CN,becauseofitsrigorousfoundation,canbeusedtode neprogrammingsemanticsofreal-timelanguages
8、forcontrolsystems.Whilemodelingfocusesontheunderlyingstructureofasystem
9、theorganizationandcoordinationofitscomponents
10、requirementsspeci cationimposesglobalconstraintsonasystem'sbehavior,andbehaviorveri cationensuresthecorrectnessofthebehaviorwithre-specttoitsrequirementsspeci cation
11、.Wedevelopatimedlin
