Christiaan J. J. Paredis

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In this paper, we combine modeling constructs from SysML and Modelica to improve the support for Model-Based Systems Engineering (MBSE). The Object Management Group has recently developed the Systems Modeling Language (OMG SysMLTM). This visual modeling language provides a comprehensive set of diagrams and constructs for modeling many common aspects of(More)
Engineering design decisions inherently are made under risk and uncertainty. The characterization of this uncertainty is an essential step in the decision process. In this paper, we consider imprecise probabilities (e.g. intervals of probabilities) to express explicitly the precision with which something is known. Imprecision can arise from fundamental(More)
This article presents an overview of the state-of-the art in modeling and simulation, and studies to which extent current simulation technologies can effectively support the design process. For simulation-based design, modeling languages and simulation environments must take into account the special characteristics of the design process. For instance,(More)
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS) hardware and(More)
This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By connecting these component objects to each other through their ports, designers can create both a system-level design description and a virtual prototype of the system. This virtual prototype,(More)
This paper presents the design of a localization system for a team of centimeter-scale robots that collaborate to map and explore unknown environments. The localization system uses ultrasound to measure the distance from each moving robot to three stationary robots that serve as beacons. From these distance measurements the position of the robots is derived(More)
To focus on the research issues surrounding collaborative behavior in multiple mobile-robotic systems, a great amount of low-level infrastructure is required. To facilitate our on-going research into multi-robot systems, we have developed RAVE, a software framework that provides a Real And Virtual Environment for running and managing multiple heterogeneous(More)
This paper provides an overview of the formal transformation between the two complementary languages: OMG SysML and Modelica. SysML is a standardized general purpose graphical modeling language for capturing complex system descriptions in terms of their structure, behavior, properties, and requirements. Modelica is a standardized general purpose systems(More)
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its(More)