Saeid Pashazadeh

Saeid Pashazadeh, Saeed Saeedvand

Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot, combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to identify two fundamental issues: first, detection of target or an object which robot must follow; second, detecting surface of the ground so that walking robot could maintain its balance just like a human and shows its best performance. Presented model gives high-level view of humanoid robot's operations.

Saeid Pashazadeh, Maryam Pashazadeh

Database administrators need to compute closure of functional dependencies (FDs) for normalization of database systems and enforcing integrity rules. Colored Petri net (CPN) is a powerful formal method for modelling and verification of various systems. In this paper, we modelled Armstrong's axioms for automatic proof generation of a new FD rule from initial FD rules using CPN. For this purpose, a CPN model of Armstrong's axioms presents and initial FDs considered in the model as initial color set. Then we search required FD in the state space of the model via model checking. If it exists in the state space, then a recursive ML code extracts the proof of this FD rule using further searches in the state space of the model.