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Excerpt from A High Level Real-Time Programming Language: October, 1984
User-defined functions Whldl are invoked on the right side of a bind or follow statement must be such that it makes sense to think of evaluating them instantaneously and continously. For example, if the function F had a side-effect of incrementing a global variable X by 1, then the statement would have to increment X infinitely often, Whld'l is not ameptable. We therefore define an instantaneous function as one where the only variables accessed are the argu ments (passed by value) and loml variables; and we require that only instantaneous functions be used on the right-hand side of a bind or follow statement.
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Excerpt from A High Level Real-Time Programming Language: October, 1984
Introduction
We present here an outline of a robot programming language, COAL (COntinuous Action Language), together with a formal semantics. COAL is designed to support an abstraction of programming which can operate in a continuous fashion. Variables can change values continuously over time, execution can be instantaneously interrupted in response to an event, and so on. Such constructs must be implemented in terms of discrete steps, but COAL expresses the idealization behind the implementation, in the way that real arithmetic is the idealization behind floating point arithmetic. In this paper, we will describe the basic elements of COAL, define a formal semantics, and present a few typical programming examples. We have not yet addressed the question of implementation.
2. Overview of COAL
2.1. Variables:
COAL supports at least the following types of variables: booleans, integers, real valued vectors (elements of Rᵑ ), continuous functions from Rᵐ to Rᵑ (called "real functions"), and integer semaphores.
Certain global variables will be bound to the input and output devices of the particular robotic system. Sensor variables are associated with particular sensors. At each moment in time, the value of the variable is the current measurement of the sensor. Effector variables are associated with parameters of the robot's effectors. Changing the value of the variable causes a motion by the robot. Effector variables must therefore be generally changed continuously. The global variable clock always has the current time as its value.
About the Publisher
Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com
This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.
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