Tak-Kuen John Koo

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This paper presents a hierarchical hybrid system modeling and simulation framework using the Ptolemy I1 environment. Ptolemy I1 is a system-level design tool that supports the integration of multiple models of computation. The modeling of hierarchical hybrid systems is achieved by combining continuous-time models with finite state automata. Breakpoint(More)
A robotic hand may change its grasp status and relocate some of its fingers in order to perform a large scale manipulation. Such a strategy is called a finger gait. In this paper, a randomized manipulation planning algorithm is proposed to solving the finger gait planning problem. One of the most used finger gaiting primitives, finger substitution, is(More)
Air Traffic Management Systems (ATMS) of the future will feature Free Flight, in which aircraft choose their own routes, altitude, and speed, and automated conflict resolut8ion methods in which aircraft will coordinate to resolve conflicts. The resulting distributed control architecture is a hybrid system, with mixed discrete event and continuous time(More)
Air Traac Management Systems (ATMS) of the future will feature Free Flight, in which aircraft choose their own routes, altitude, and speed, and automated connict resolution methods in which aircraft will coordinate to resolve connicts. The resulting distributed control architecture is a hybrid system, with mixed discrete event and continuous time dynamics.(More)
This document is responding to the MoBIES “Automotive Challenge Problems”. It is prepared by the Mobies Phase 1 Berkeley team, whose project is entitled “Process-Based Software Components for Networked Embedded Systems.” The problems posed in the “Automotive Challenge Problems” paper are addresses one by one and our views on the problems are presented.
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