Hultman, J. (1987). COOPS - A Software System for Defining and Controlling Actions in a Mechanical System. Technical Report LiTH-IDA-R-87-06, Department of Computer and Information Science, Linköping University, Sweden. (bibtex),
Abstract: This paper presents a computer system for defining and controlling actions in a mechanical system. It considers questions such as how to represent dependencies between sensor data and output data in such a system.It also approaches the question of how to specify whether actions should be executed in parallel or in sequence. The paper gives a concrete example of how to specify the control of a specific mechanical system. It also comments briefly on the actual implementation and future extensions.
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