{"id":{"repo_id":"nus","oai_identifier":"oai:scholarbank.nus.edu.sg:10635/13042"},"canonical_url":"https://search.dev.ndltd.org/etd/nus/oai:scholarbank.nus.edu.sg:10635/13042","repository":{"repo_id":"nus","name":"National University of Singapore","base_url":"https://scholarbank.nus.edu.sg/oai/request"},"display":{"title":"A General Framework for Robot Programming Using a Matrix-based Supervisory Controller","abstract":"This research explored the realm of robot programming systems with the motive of developing a framework that requires minimum coding during the application phase. The thesis begins with a preamble to the matrix-based approach depicting its simplicity and its advancements as the research progresses.Given a decomposed task, the controller permits a user to program that task, in the appropriate sequence, using a primitive library by utilizing matrices. These matrices represent the structure and flow of the task with the added capability of coordinating multiple parallel tasks.To cater for mishaps, a validity check of the intended plan has also been developed allowing the matrix-based controller to determine its feasibility in terms of job sequencing and resource allocation.An overall robot programming framework that bridges the high-level planning and that of the physical execution has been proposed and developed.","abstract_html":"This research explored the realm of robot programming systems with the motive of developing a framework that requires minimum coding during the application phase. The thesis begins with a preamble to the matrix-based approach depicting its simplicity and its advancements as the research progresses.Given a decomposed task, the controller permits a user to program that task, in the appropriate sequence, using a primitive library by utilizing matrices. These matrices represent the structure and flow of the task with the added capability of coordinating multiple parallel tasks.To cater for mishaps, a validity check of the intended plan has also been developed allowing the matrix-based controller to determine its feasibility in terms of job sequencing and resource allocation.An overall robot programming framework that bridges the high-level planning and that of the physical execution has been proposed and developed.","abstract_has_math":false,"creators":["KOH NIAK WU"],"institution":null,"degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2008,"date_issued":"2008-01-31","date_published":"2008-01-31","updated_at":"2026-07-24T03:32:04Z","subjects":["robot programming framework, matrix-based supervisory controller, task primitives, discrete event systems"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":null,"outbound_label":null,"outbound_source":null},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["KOH NIAK WU"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.issued","label":"Date","values":["2008-01-31"]},{"key":"dc:relation.isreferencedby","label":"Dc Relation Isreferencedby","values":["https://scholarbank.nus.edu.sg/handle/10635/13042"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["robot programming framework, matrix-based supervisory controller, task primitives, discrete event systems"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://scholarbank.nus.edu.sg/bitstreams/08b77694-48b0-48c3-9182-d1d8791a9670/download"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This research explored the realm of robot programming systems with the motive of developing a framework that requires minimum coding during the application phase. 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