Modeling an AERCam: A case study in modeling with concurrent constraint languages

Lars Alenius, Vineet Gupta

Abstract

This paper presents a model for the Sprint AERCam, a beachball sized robotic camera that floats around in the cargo bay of the Space Shuttle, allowing the astronauts and ground mission control to have an additional view of the task they are trying to accomplish. It has a self contained propulsion system, giving it the capability to maneuver with six degrees of freedom.

We present a model for the AERCam written in Hybrid cc, an extension of cc programming for modeling continuous/discrete systems. We modeled both the dynamics and control of the AERCam in Hybrid cc, and interfaced this model with an animation interface which allows a user to interact with the model in real-time. 

@inproceedings{aercam
,author=    "Lars Alenius and Vineet Gupta"
,title=     "Modeling an {AERC}am: A case study in modeling with concurrent constraint languages"
,booktitle= "CP'98 Workshop on Modeling and Computation in the Concurrent Constraint Languages"
,year=      1998
,month=     "October"
}

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