Citation
"MORAP: a modular robotic arm platform for teaching and experimenting with equation-based modeling languages". ACM, 2016; In Proceedings of the 7th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools (EOOLT '16).

Abstract
Equation-based object-oriented (EOO) modeling and simulation techniques have in the last decades gained significant attention both in academia and industry. One of the key properties of EOO languages is modularity, where different components can be developed independently and then connected together to form a complete acausal model. However, extensive modeling without explicit model validation together with a real physical system can result in incorrect assumptions and false conclusions. In particular, in an educational and research setting, it is vital that students experiment both with equation-based models and the real system that is being modeled. In this work-in-progress paper, we present a physical experimental robotic arm platform that is designed for teaching and research. Similar to EOO models, the robotic arm is modular, meaning that its parts can be reconfigured and composed together in various settings, and used for different experiments. The platform is completely open source, where electronic schematics, CAD models for 3D printing, controller software, and component specifications are available on GitHub. The vision is to form a community, where new open source components are continuously added, to enable an open and freely available physical experimental platform for EOO languages.

Electronic downloads

• http://dx.doi.org/10.1145/2904081.2904085

• HTML

   <a
  href="http://chess.eecs.berkeley.edu/pubs/1176.html"
  ><i>MORAP: a modular robotic arm platform for
  teaching and experimenting with equation-based modeling
  languages</i></a>, ACM, 2016; In
  <em>Proceedings of the 7th International Workshop on
  Equation-Based Object-Oriented Modeling Languages and Tools
  (EOOLT '16)</em>.

• Plain text

   "MORAP: a modular robotic arm platform for teaching
  and experimenting with equation-based modeling
  languages". ACM, 2016; In <em>Proceedings of the
  7th International Workshop on Equation-Based Object-Oriented
  Modeling Languages and Tools (EOOLT '16)</em>.

• BibTeX

  @proceedings{16_MORAPModularRoboticArmPlatformForTeachingExperimenting,
      title = {MORAP: a modular robotic arm platform for teaching
                and experimenting with equation-based modeling
                languages},
      organization = {ACM},
      year = {2016},
      note = {In <em>Proceedings of the 7th International
                Workshop on Equation-Based Object-Oriented
                Modeling Languages and Tools (EOOLT '16)</em>},
      abstract = {Equation-based object-oriented (EOO) modeling and
                simulation techniques have in the last decades
                gained significant attention both in academia and
                industry. One of the key properties of EOO
                languages is modularity, where different
                components can be developed independently and then
                connected together to form a complete acausal
                model. However, extensive modeling without
                explicit model validation together with a real
                physical system can result in incorrect
                assumptions and false conclusions. In particular,
                in an educational and research setting, it is
                vital that students experiment both with
                equation-based models and the real system that is
                being modeled. In this work-in-progress paper, we
                present a physical experimental robotic arm
                platform that is designed for teaching and
                research. Similar to EOO models, the robotic arm
                is modular, meaning that its parts can be
                reconfigured and composed together in various
                settings, and used for different experiments. The
                platform is completely open source, where
                electronic schematics, CAD models for 3D printing,
                controller software, and component specifications
                are available on GitHub. The vision is to form a
                community, where new open source components are
                continuously added, to enable an open and freely
                available physical experimental platform for EOO
                languages.},
      URL = {http://chess.eecs.berkeley.edu/pubs/1176.html}
  }
  

Posted by Mary Stewart on 7 Jul 2016.
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