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Modelling reversible execution of robotic assembly

ROBOTICA 2018年第5期36卷 625-654页

作者： Laursen, Johan Sund Ellekilde, Lars-Peter Schultz, Ulrik Pagh Univ Southern Denmark Maersk Mc Kinney Moller Inst Odense Denmark

programming robotic assembly for industrial small-batch production is challenging;hence, it is vital to increase robustness and reduce development effort in order to achieve flexible robotic automation. A human who has made an assembly error will often simply undo the process until the error is undone and then restart the assembly. Conceptually, robots could do the same. This paper introduces a programming model that enables robot assembly programs to be executed in reverse. We investigate the challenges in running robot programs backwards and present a classification of reversibility characteristics. We demonstrate how temporarily switching the direction of program execution can be an efficient error recovery mechanism. Moreover, we demonstrate additional benefits arising from supporting reversibility in an assembly language, such as increased code reuse and automatically derived disassembly sequences. As a default approach to reversibility, we use program inversion and statement-level inversion of commands, but with a novel override option providing alternative sequences for asymmetric reverse actions. To efficiently program for this model, this paper introduces a new domain-specific language, SCP-RASQ (Simple C++ Reversible Assembly SeQuences). In initial experiments, where 200 consecutive assemblies of two industrial cases were performed, 18 of 22 errors were corrected automatically using only the trial-and-error capabilities that come from reverse execution.

关键词： Robot software architectures domain-specific programming language Reversible computing Error recovery Assembly and disassembly

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A language for high-level description of adaptive web systems

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JOURNAL OF SYSTEMS AND SOFTWARE 2008年第7期81卷 1196-1217页

作者： Sadat-Mohtasham, S. Hossein Ghorbani, Ali A. Univ New Brunswick Fac Comp Sci Intelligent & Adapt Syst Grp Fredericton NB E3B 5A3 Canada

Adaptive Web systems (AWS) are Web-based systems that can adapt their features such as, presentation, content, and structure, based on users' behaviour and preferences, device capabilities, and environment attributes. A framework was developed in our research group to provide the necessary components and protocols for the development of adaptive Web systems;however, there were several issues and shortcomings (e.g. low productivity, lack of verification mechanisms, etc.) in using the framework that inspired the development of a domain-specific language for the framework. This paper focuses on the proposal, design, and implementation of AWL, the Adaptive Web language, which is used to develop adaptive Web systems within our framework. Not only does AWL address the existing issues in the framework, but it also offers mechanisms to increase software quality attributes, especially, reusability. An example application named PENS (a personalized e-News system) is explained and implemented in AWL. AWL has been designed based on the analysis of the adaptive Web domain, having taken into account the principles of reuse-based software engineering (product-lines), domain-specific languages, and aspect-oriented programming. Specially, a novel design decision, inspired by aspect-oriented programming paradigm, allows separate specification of presentation features in an application from its adaptation features. The AWL's design decisions and their benefits are explained. (c) 2007 Elsevier Inc. All rights reserved.

关键词： Adaptive web system domain-specific programming language aspect-oriented programming

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