FORMALISME ETENDU DE RESEAUX DE PETRI POUR ARCHITECTURE ULTICOMPOSANTS : APPLICATION A LA COMMANDE D'UN ROBOT MARCHEUR
Ecole Superieure Polytechnique D’Antananarivo — nan — None ()
Auteur : RAZAFINDRAKOTO Nicolas Raft
Année de soutenance : 2008
Diplome : HDR
Langue : FR
Résumé
Despite the rise of performance programmable components in terms of quantity of cells, internal functions and speed of execution, these components will always have an upper limit which, once it is reached, would lead necessarily to another way for proceeding in the approach Algorithm Architecture Adequacy (AAA), which is a key element of optimization codesign Based on the experience gained in laboratory about the implementation of Petri nets, we carried on the work under way in defining a useful extension to the description of networks at different levels. And, by the volume of data to be processed and the size of algorithms in various fields such as signal and image processing, automatic, robotics, implementing multi-FPGA components is essential. This has led us to suggest a new formalism description at several levels, based on the concept of micro (AmPN) and Architectural MacroPetri Nets(AMPN) with their respective definitions and properties. We have laid the foundations for their use in studying the control of a bipedal walking robot, that is starting at laboratory.