Pudji Astuti

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This paper presents a stability concept of a class of discrete event systems (DESs) using Markov chains. The DESs under consideration are modeled as state machines adopted from Ramadge-Wonham which represent the hybrid dynamic models of constrained motion systems. By identifying the probability of ring enabled events of the DES, p-convergence is proposed.(More)
Suucient conditions for the success of the robotic control of assembly are presented. The assembly is modelled as a discrete event system using Petri nets. The abstraction of assembly to the discrete event system highlights the changes in the state of contact as the key points to control in the assembly process. Using this abstraction , suucient conditions(More)
A new approach to the planning and analysis of the successful convergence of assembly is presented. The convergence is refered to as p-convergence, since it is derived within a probability framework. The assembly is modeled as a hybrid dynamic system (HDS) accounting for the presence of the discrete change of contact and the continuous movement during the(More)
A discrete event controller (DEC) synthesis methodology for the successful convergence of assembly is presented. The modelling of an assembly process as a hybrid dynamic system (HDS) has been shown to be a very eeective strategy to incorporate the interaction between the workpiece and its environment. In addition, this modelling has allowed the derivation(More)
This paper presents a method for discrete event controller (DEC) synthesis for a manipulation task modeled as a hybrid dynamic system (HDS). The modelling of a manipulation task as a HDS has been shown to be a very eeective strategy to incorporate the interaction of the robot manipulator with its environment. In addition, this modelling has allowed the(More)
Mathematical Subject Classifications (2000): 15A18, 47A15 15A24, 15A57. Abstract: Invariant subspaces of a matrix A are considered which are obtained by truncation of a Jordan basis of a generalized eigenspace of A. We characterize those subspaces which are independent of the choice of the Jordan basis. An application to Hamilton matrices and algebraic(More)
Pregnanediol glucuronide (PdG) in feces and serum progesterone (P) were analyzed for determining 4 ovarian cycle as well as to evaluate ovarian function of captive-housed Javan Gibbon (Hylobates moloch). A total of four females Javan Gibbons maintained in single-typed cage at Ragunan Zoo (Owa1 and Owa2) and in pairing-typed cage at Taman Margasatwa Taman(More)
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