Wyniki wyszukiwania - BazTech

1

Test Environment for Verifying Quantum Algorithms and Controlling SINARA Real-time Modules

Wyrostkiewicz Michał P., Kuczerski Tomasz, Gibalski Dariusz

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

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2024

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Vol. 15, Nr 1 (55)

55--64

EN

This paper describes the process of creating and using a quantum computing environment. It also discusses the manner in which first quantum experiments using mathematical models, simulators or commercially available quantum computers may be conducted. In addition, it explains how the available quantum algorithms may be understood and applied. Finally, the role of real-time systems and their control in the architecture of a quantum computer is described.

PL

Prezentacja o tworzeniu i wykorzystywaniu środowiska do obliczeń kwantowych. Omówione są również, w jaki sposób przeprowadzić pierwsze eksperymenty kwantowe na poziomie matematycznym, symulatora lub dostępnych komercyjnie komputerów kwantowych. Dodatkowo wyjaśnione jest w jaki sposób rozumieć oraz wykorzystywać dostępne algorytmy kwantowe. Na koniec, opisano rolę systemów czasu rzeczywistego i ich sterowania w architekturze komputera kwantowego.

2

Real-time requirements meeting in PLC control system

Oprzędkiewicz Krzysztof

Science, Technology and Innovation

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2019

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Vol. 5, no. 2

1--8

EN

In the paper a problem of real-time requirements meeting at PLC is presented. Basic parameters associated to real time and factors determining their value were discussed. Real-time reliability indices for PLC and methods of their estimation and experimental testing was also proposed. Results were depicted by examples.

3

Measure of adequacy for the supercomputer job management system model

Baranov Anton, Lyakhovets Dmitriy, Savin Gennady, Shabanov Boris, Telegin Pavel

Annals of Computer Science and Information Systems

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2019

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Vol. 18

423--426

EN

In this paper we investigate the problem of modelling modern supercomputer job management systems (JMS). When modelling the JMS, one of the main issues is the adequacy of the model used in experimental studies. The paper attempts to determine the measure of the JMS model adequacy by comparing the characteristics of two job streams, one of which was acquired from a real supercomputer and the other is obtained from the JMS model. We show that the normalized Euclidean distance between vectors of jobs residence times obtained from the job streams of the real system and the JMS model can serve as a measure of the adequacy of the JMS model. The paper also defines the reference value of the measure of adequacy corresponding to the JMS model with virtual nodes.

4

Przedziałowa postać wyniku pomiaru jako podstawa wyrażania niedokładności w systemach pomiarowo-sterujących

Jakubiec J., Wymysło M.

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

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2018

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Nr 59

73--78

PL

W artykule opisano koncepcję przedziałowego wyrażania wyniku pomiaru oraz jego niepewności w sposób specyficzny dla systemów pomiarowo-sterujących. Niepewność rozumiana jest tu jako parametr błędu wyniku pomiaru interpretowanego w kategoriach probabilistycznych. Wyrażanie wyniku w postaci przedziału przedstawiono na przykładach obliczanych symulacyjnie przy użyciu metody Monte Carlo.

EN

An approach to the interval representation of measurement result and its uncertainty in measuring and control system is presented in the paper. Nowadays, the measurement result is characterized by the measurement uncertainty [1], which is defined as the radius of the interval built around the measured value in which the true value lies with given probability. A rapid growth of measurement systems application area leads to introduce more usable definition of inaccuracy which basis on the interval representation of a measurement result. This definition is more useful, particularly in real-time systems and when errors with asymmetrical distribution occur in systems [2, 4]. According to classical definition, to classify a system as real-time one delays in it have to be less than it is allowable. In such systems propagation of the signals from the input to the output is connected with arising of delays because all the system elements need time to perform their activities. However, to classify a measuring and control system as a real time, it should be taken into account all factors influencing on properties the system output signals, i.e. not only delays but also errors of measurement data. Therefore, the delay errors should be described as components of the total error being the basis of determination of the interval representing the system output measuring results [5]. Comparing the interval with critical acceptable values enables classifying the system as a real-time one. Theoretical consideration in the paper are illustrated by results of numerical experiments carried out by using Monte Carlo method.

5

UDP/IP/Ethernet network as an integration layer for distributed avionic application: a case study

Samolej S., Rogalski T.

Studia Informatica

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2018

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Vol. 39, nr 1

65--76

EN

The paper discusses an application of standard UDP/ IP/Ethernet local area network as a communication layer for real-time distributed avionic application. The main objective of the paper is to propose and discuss hardware/software network configurations which improve the control device's data exchange even if the network must conduct another data intensive stream services.

PL

W artykule rozważane jest zastosowanie standardowej lokalnej sieci komputerowej klasy UDP/IP/Ethernet jako platformy komunikacyjnej dla pokładowej rozproszonej aplikacji czasu rzeczywistego. Głównym przedmiotem analiz prowadzonych w pracy jest dobór konfiguracji sprzętowo-programowych dla sieci, w których należy zachować przepustowość dla danych procesowych systemu sterowania przy obecności innych znaczących transferów danych.

6

Embedded systems based on Raspberry Pi programmed with CODESYS

Smołka J.

Studia Informatica

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2018

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Vol. 39, nr 1

77--87

EN

This chapter contains information about creating of software for embedded devices like Raspberry Pi with programming tools dedicated for industrial systems. It describes hardware and software solutions and capabilities available on the market. Short part of this chapter contains information about test.

PL

W artykule opisano problematykę tworzenia oprogramowania dla urządzeń wbudowanych takich jak Raspberry Pi za pomocą narzędzi przeznaczonych do rozwiązań przemysłowych. Opisano możliwości zarówno sprzętowe, jak i programowe rozwiązań dostępnych na rynku. Krótki fragment zawiera informację o przeprowadzonych testach.

7

Simplified model of Switched Reluctance Motor for real-time calculations

Fabiański B., Zawirski K.

Przegląd Elektrotechniczny

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2016

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R. 92, nr 7

19--23

EN

The purpose of the paper is to show a new approach for three phase, 12/8 poles SRM modeling. It was assumed that the model need to fulfill a general principles of electromagnetic energy conversion, has simple structure for fast computation and has possibility to invert for control system synthesis. The main idea bases on the replacing the non-linear flux linkage function of two variables on the product of two nonlinear functions of one variable. The analytical basis and corresponding formulas are shown in details. Two different approaches for derivation of the electromagnetic torque generation formulas are presented. The motor model implemented in the Matlab/Simulink packet is described. Simulation results with the experimental waveforms are compared what confirmed agreement of model with real object. Comparison bases on the current waveforms of three phases in selected operation points. The paper presents the way of conversion of nonlinearity from 2D arrays to the analytical form of approximated functions with only 4 parameters. Presented in the article simple, nonlinear model of SRM gives an opportunity to use in real time control systems and is dedicated for model adaptive reference structures (MRAS). The MRAS structure can be evaluated for fault detection system (FDS) and fault tolerant control (FTC) purposes.

PL

W artykule przedstawiono oryginalne podejście do modelowania silnika reluktancyjnego przełączalnego. W przykładzie wzięto pod uwagę popularną konstrukcję trójpasmową o strukturze biegunów 12/8. Założono zgodność z zasadami przetwarzania energii elektromagnetycznej, prostą konstrukcję oraz zdolność do odwrócenia na potrzeby syntezy toru sterowania. Idea bazuje na zastąpieniu nieliniowej, sprzężonej funkcji dwóch zmiennych strumienia magnetycznego na wynik mnożenia dwóch funkcji jednej zmiennej. Przedstawiono podstawy analityczne idei oraz jej szczegółowe wyprowadzenia. Opisano zaimplementowany model w pakiecie Matlab/Simulink oraz wyniki badania jego zbieżności z eksperymentem w wybranych punktach pracy. Funkcje nieliniowe stablicowane w procesie wstępnej identyfikacji maszyny zostają zastąpione aproksymacjami analitycznymi z sumaryczną liczbą tylko czterech parametrów. Taki analityczny model daje się łatwo odwrócić, jego obliczenia są efektywne, a same parametry dają się stroić w procesie adaptacji do modelu rzeczywistego. Przedstawiona idea zastosowana w strukturze z modelem referencyjnem pozwala na rozwinięcie o blok funkcjonalny detekcji uszkodzeń (ang. Fault Detection System) oraz samego sterownia odpornego na awarię (ang. Fault Tolerant Control).

8

A simple multithreaded C++ framework for high-performance data acquisition systems

Ingles R., Perek P., Orlikowski M., Napieralski A.

International Journal of Microelectronics and Computer Science

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2015

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Vol. 6, nr 2

29--34

EN

The data acquisition systems must be capable of process all the data produced by the source to ensure the highest level of accuracy, especially when it deals with hard real-time system monitoring task. However, the production of data is faster than the process to acquire and to process such a data. Using concurrency approach is an alternative to obtain the required level of performance and data processing. This paper presents the comparison between various C++ frameworks that by using multithreading technology and ringbuffer data structure allow data transfer in concurrent way. The comparison is based on the time interval between the instant when data is published and the instant when the data is gathered. These latency measurements have been taken using the configuration of one producer and two consumers for all evaluated frameworks. The results show that using standard C++ libraries to develop a simple framework it is possible to achieve suitable performance in order to fulfill the requirements of the high performance data acquisition systems described.

9

Control of delivery of water capsule for the explosive generation of water spray

Śmigielski G., Lewandowski D., Dygdala R.

Automatyka / Automatics

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2013

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Vol. 17, no. 2

253--262

EN

This article presents the structure of the system which makes possible the release of a water capsule from the helicopter and the detonation of water situated inside the capsule at the defined height over the target (the place of fire) in order to cover the land of a adequate area with the produced aerosol. The moment of the release and detonation is defined on the basis of the current velocity of a flight and the position of the capsule.

PL

Artykuł prezentuje budowę systemu, który umożliwia automatyczne uwolnienie ze śmigłowca kapsuły wodnej i zdetonowanie ładunku umieszczonego wewnątrz niej na określonej wysokości nad celem (miejscem pożaru) tak, aby wytworzony aerozol pokrył teren o wymaganej powierzchni. Moment uwolnienia, a także detonacji jest określany na podstawie aktualnej prędkości lotu oraz pozycji kapsuły.

10

Projekt i implementacja laboratoryjnego modułowego manipulatora o pięciu stopniach swobody (5R) z wbudowanym systemem sterowania

Augustyn J., Cichocki Ł., Duda Ł.

Pomiary Automatyka Robotyka

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2012

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R. 16, nr 11

54-58

PL

W artykule przedstawiono projekt oraz praktyczną realizację modułowego manipulatora o pięciu stopniach swobody. Omówiono założenia projektowe dotyczące części mechanicznej. Zaprezentowano strukturę wieloprocesorowego, hybrydowego systemu sterowania. Manipulator przeznaczony jest do zastosowań laboratoryjno-dydaktycznych.

EN

This paper presents the design and practical implementation of the modular manipulator with five degrees of freedom. The conceptual design of mechanical parts is depicted. Manipulator platform uses multiprocessor, hybrid control system. This system was designed and developed. The manipulator can be used for laboratory and educational applications.

11

Specification of real-time systems using UML sequence diagrams

Huzar Z., Walkowiak A.

Przegląd Elektrotechniczny

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2010

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R. 86, nr 9

226-229

EN

The paper proposes an approach to a definition of a semantic of UML sequence diagram extended to real-time system specification set using a transformation of the sequence diagrams into a graph of possible scenarios of system-environment interactions. The described transformation allows the analysis of specification properties: consistency, definiteness and completeness, and can be used to check if the system’s behavior satisfies liveness and safety properties

PL

W artykule przedstawiono propozycję definicji semantyki zbioru diagramów sekwencji języka UML rozszerzonych dla specyfikacji systemów czasu rzeczywistego. Zapisem przyjętej interpretacji zbioru diagramów jest graf możliwych scenariuszy interakcji systemu z otoczeniem, do którego zbiór jest transformowany. Zdefiniowana transformacja umożliwia weryfikację poprawności (niesprzeczności, określoności, kompletności) oraz badanie własności (bezpieczeństwa, żywotności) opracowywanych specyfikacji.

12

System CCTV do automatycznego śledzenia obiektów w czasie rzeczywistym

Pawłowski P., Borowczyk K., Maroniak T., Dąbrowski A.

Elektronika : konstrukcje, technologie, zastosowania

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2010

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Vol. 51, nr 3

71-75

PL

Artykuł prezentuje eksperymentalny system telewizji dozorowej do śledzenia ruchomych obiektów w czasie rzeczywistym. W jego skład wchodzi kamera przemysłowa CC-5299 MAFS/M zamontowana na komputerowo sterowanej obrotnicy. Zestaw jest kontrolowany ze standardowego komputera klasy PC z zainstalowanym systemem Linux. Zaprojektowane oprogramowanie analizuje obraz z kamery i na jego podstawie dobiera parametry sterowania obrotnicą. Ponadto, oprócz sterowania automatycznego, możliwe jest także sterowanie ręczne. Szczegółowo opisano także wykorzystane algorytmy śledzenia obiektów.

EN

This paper presents an experimental CCTV system for real time tracking of moving objects. It is equipped with the industry standard video camera CC-5299 MAFS/M mounted on a controlled turntable. APC computer operating with Linux system is used. The prepared software analyzes the captured video and decides how to control the turntable and the camera to track the selected object. Manual system control is also possible. The implemented algorithms are discussed in the paper in detail.

13

Expressiveness of Petri Nets with Stopwatches. Discrete-time Part

Magnin M, Molinaro P., Roux O-H.

Fundamenta Informaticae

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2009

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Vol. 97, nr 1/2

139-176

EN

With this contribution, we aim to draw a comprehensive classification of Petri nets with stopwatches w.r.t. expressiveness and decidability issues. This topic is too ambitious to be summarized in a single paper. That is why we present our results in two different parts. In the first part of our work, we established new results regarding to both dense-time and discrete-time semantics. We now focus on the discrete-time specificities. We address the class of bounded Petri nets with stopwatches and reset arcs (rSwPNs), which is an extension of T-time Petri nets (TPNs) where time is associated with transitions. Stopwatches can be reset, stopped and started. We recall the formal dense-time and discrete-time semantics of these models in terms of Transition Systems. We study the expressiveness of rSwPNs and its subclasses w.r.t. (weak) bisimilarity (behavioral semantics). The main results are following: 1) Discrete-time bounded TPNs, discrete-time bounded rSwPNs and untimed Petri nets are equally expressive; 2) The resulting (final) classification of models is given by a set of relations explained in Fig. 7. While investigating expressiveness, we exhibit proofs that can be easily extended to the resolution of decidability issues. Among other results, we prove that, for bounded rSwPNs, the state and marking reachability problems - undecidable with dense-time semantics - are decidable when discrete-time is considered. Table 1 gives a synthesis of the main decidability results for these models. For the sake of simplicity, our results are explained on a model such that the stopwatches behaviors are expressed using inhibitor arcs. Our conclusions can however be easily extended to the general class of Stopwatch Petri nets.

14

Expressiveness of Petri Nets with Stopwatches. Dense-time Part

Magnin M, Molinaro P., Roux O-H.

Fundamenta Informaticae

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2009

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Vol. 97, nr 1/2

111-138

EN

With this contribution, we aim to draw a comprehensive classification of Petri nets with stopwatches w.r.t. expressiveness and decidability issues. This topic is too ambitious to be summarized in a single paper. That is why we present our results in two different parts. The scope of this first paper is to address the general results that apply for both dense-time and discrete-time semantics. We study the class of bounded Petri nets with stopwatches and reset arcs (rSwPNs), which is an extension of T-time Petri nets (TPNs) where time is associated with transitions. Stopwatches can be reset, stopped and started. We give the formal dense-time and discrete-time semantics of these models in terms of Transition Systems. We study the expressiveness of rSwPNs and its subclasses w.r.t. (weak) bisimilarity (behavioral semantics). The main results are following: 1) bounded rSw- PNs and 1-safe rSwPNs are equally expressive; 2) For all models, reset arcs add expressiveness. 3) The resulting partial classification of models is given by a set of relations explained in Fig. 7: in the forthcoming paper, we will complete these results by covering expressiveness and decidability issues when discrete-time nets are considered. For the sake of simplicity, our results are explained on a model such that the stopwatches behaviors are expressed using inhibitor arcs. Our conclusions can however be easily extended to the general class of Stopwatch Petri nets.

15

Symulatory układów elektromechanicznych i elektroenergetycznych pracujące w czasie rzeczywistym

Cieślik S., Boniewicz P., Sulima M.

Przegląd Elektrotechniczny

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2006

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R. 82, nr 11

117-119

PL

W artykule przedstawiono wybrane wyniki prac dotyczących stosowania komputerowych symulatorów układów elektromechanicznych i elektroenergetycznych, których przeznaczeniem jest współpraca z obiektami rzeczywistymi (np. sterownikami cyfrowymi) w czasie rzeczywistym. Proponowane rozwiązania pozwalają prowadzić badania mające na celu np. weryfikację działania opracowywanych mikroprocesorowych sterowników w układach regulacji automatycznej złożonych układów dużych mocy. Proponowane rozwiązania oparte są na komputerach osobistych.

EN

In this paper work results on application of electromechanical devices computer aided simulators was presented with possibility of use in hard real-time systems. Proposed solutions can be used in research on complex high power electrical systems, for example to verify new control methods or checking automatic control equipment. Proposed examples are based on PC-class computers.

16

Schedulability timing analysis of exchange information for real-time system

Mrozek M., Majcher A.

Problemy Eksploatacji

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2006

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nr 4

49-58

EN

This paper presents a schedulability timing analysis for a two-processor real-time system. This system enables to work with other devices in the dispersed industrial network with a protocol of data transmission Modbus RTU. A method of transmission information between a master microprocessor and a slave microprocessor of the system was described. An optimisation method, with the help of specialist software TimesTool, was done, which is used for modelling and schedulability analysis of embedded real-time systems.The simulation tests shortened the time needed for working out the method and decreased the numbers of errors in the designed system.

PL

W artykule przedstawiono analizę czasową zadań wykonywanych w dwuprocesorowym systemie czasu rzeczywistego. System ten charakteryzuje się możliwością współpracy z innymi urządzeniami w rozproszonej sieci przemysłowej z odpowiednim protokołem transmisji danych (Modbus RTU). Dokonano analizy czasowej zadań wymiany informacji między mikroprocesorem głównym i mikroprocesorem komunikacyjnym. Przy wykorzystaniu specjalistycznego oprogramowania TimesTool do modelowania i analizy zadań w systemach czasu rzeczywistego zoptymalizowano metodę wymiany informacji między mikroprocesorem głównym i mikroprocesorem komunikacyjnym systemu. Zastosowanie badań symulacyjnych skróciło czas opracowywania metody, zmniejszając liczbę błędów w projektowanym systemie.

17

Observational Equivalences for Timed Stable Event Structures

Andreeva M.V., Virbitskaite I.B.

Fundamenta Informaticae

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2006

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Vol. 72, nr 1-3

1-19

EN

The intention of the paper is to develop a framework for weak observational equivalences in the setting of a real-time partial order model. In particular, we introduce a family of equivalences of linear time - branching time spectrum based on interleaving, causal tree and partial order semantics, in the setting of a dense time extension of stable event structures with internal actions. We study the relationships between the equivalences showing, on one hand, the discriminating power of the approaches of the spectrum and, on the other hand, the coincidence of some semantics in a concrete approach. Furthermore, when dealing with particular subclasses of the model under consideration, there is no difference between more concrete and more abstract observations.

18

A formal approach to modelling of real-time systems using RTCP-nets

Szpyrka M., Szmuc T., Matyasik P., Szmuc W.

Foundations of Computing and Decision Sciences

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2005

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Vol. 30, No. 1

61-71

EN

The paper deals with an application of formal methods for modelling of real-time systems. The main objective of this approach is to support development of these systems in order to ensure that the produced software artefacts are correct, as well as to improve the development process. The Real-Time Coloured Petri nets (RTCP-nets), which are a subclass of time coloured Petri nets, are used as a modelling tool. To make the nets more suitable for modelling and analysis RTCP-nets are derived from coloured Petri nets. Applications of RTCP-nets as a modelling and verification tool are strongly supported by the so-called Adder Tools. The formal description of RTCP-nets is not presented here since the paper focuses on the main properties of these and the supporting facilities of the Adder Tools. The approach is illustrated by a practical example, that shows the expressiveness of RTCP-nets for modelling and verification of real-time systems. 1 1Supported by KBN Research Project No 4 T11C 035 24

19

Wybrane zagadnienia szeregowania zadań wieloprocesorowych dla dedykowanych procesorów

Gajer M.

Kwartalnik Elektroniki i Telekomunikacji

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2003

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Vol. 49, z. 2

163-173

PL

Systemy czasu rzeczywistego stanowią obecnie dobrze określoną i wyodrębnioną grupę systemów komputerowych. W systemach takich najważniejszą sprawą jest dochowywanie nałożonych na realizację zadań ograniczeń czasowych. Spełnienie wymogów czasowych wymusza często konieczność zastosowania w miejsce sekwencyjnych procesorów systemów wieloprocesorowych, które są w stanie dostarczyć wymaganego poziomu pracy obliczeniowej. Jednakże zastosowanie rozwiązań wieloprocesorowych powoduje konieczność rozwiązania niełatwego problemu szeregowania zadań wieloprocesorowych. W artykule po wstępnym wprowadzeniu w problematykę szeregownia zadań wieloprocesorowych, dokonano szczegółowej analizy przypadku szeregowania zadań wieloprocesorowych dla czterech dedykowanych procesorów. Rozważania teoretyczne zostały uzupełnione o wyniki symulacji komputerowych.

EN

In many modern computer systems multiprocessor solutions are more often applied. This concerns especially computer systems that are used in the real-time applications. At present the real-time systems constitute the well-defined class of computer systems. The real-time systems are getting more and more popular in many fields of industry and communication. The real-time systems are used to control telecommunication devices and systems, defense systems, avionics and modern factories. In fact many modern facilities cannot do without them. For example without the real-time systems there would be no nuclear power plants, space ships, jet aircrafts, modern factories with robots etc. The program realized by the real-time computer systems is divided into special tasks performing given functions. In the case of the real-time systems a very important matter is to guarantee that all the task are to be finished before their deadline points. In the case of the hard real-time systems any exceeding task deadline is absolutely intolerable. Such event if happens may lead to uncontrollable behavior of the system, which can cause a disaster, for example an aircraft carsh, a loss of human life etc. To guarantee that the task deadlines will be always met, the task scheduling theory was developed. The main goal of the task scheduling theory is to demonstrate at the system development phase that under all the possible to foreseen circumstances the task deadlines will always be met. There does not exist one universal task scheduling algorithm for all kinds of task. There are separate algorithms for periodic tasks and tasks that are event-triggered. Also there are different algorithms for tasks that are preemptive and for tasks that are not preemptive. There exist also quite different algorithms for tasks that are dedicated for one processor only and for so-called multiprocessor tasks that require for their execution two or more processor at the time. As was earlier mentioned in the case of the real-time systems the most important factor is whether the tasks meet the predefined time constraints. In order to meet the hard time constraints cery often a multiprocessor system is used in stead of a sequential system with only one processor. The multiprocessor system is expected to deliver much more computational power than a single processor system, however, the usage of a multiprocessor system requires simultaneously to solve a non-easy problem of multiprocessor task scheduling. In the paper a brif introduction to the problems of multiprocessor task scheduling is given. Further the case of scheduling a set of independent multiprocessor tasks for four dedicated processors is examined. Multiprocessor systems with four processors are very popular at the present time. For example the Texas Instruments TMS320C80 is a single-chip multiprocessor system composed of four DSP processors. Earlier Texas Instruments offered a personal computer boards with four TMS320C40 processors. The proposed algorithm of multiprocessor task scheduling was called a Divide Uniprocessor Task (DUT) algorithm, because all the tasks dedicated for a single processor are grouped together and then the whole set is divided into two subsets, one of which has the length as close as possible to the execution time of compatible tasks dedicated for orther three processors. In the paper the process of multiprocessor task scheduling is illustrated with examples and the results of computer simulations are also presented.

20

Completeness of Timed uCRL

Reniers M.A., Groote J.F., van der Zwaag M.B., van Wamel J.

Fundamenta Informaticae

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2002

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Vol. 50, nr 3,4

361-402

EN

In [25] a straightforward extension of the process algebra uCRL was proposed to explicitly deal with time. The process algebra uCRL has been especially designed to deal with data in a process algebraic context. Using the features for data, only a minor extension of the language was needed to obtain a very expressive variant of time. But [25] contains syntax, operational semantics and axioms characterising timed uCRL. It did not contain an in depth analysis of theory of timed uCRL. This paper fills this gap, by providing soundness and completeness results. The main tool to establish these is a mapping of timed to untimed uCRL and employing the completeness results obtained for untimed uCRL.