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30th Symposium on Implementation and Application of Functional Languages (IFL)

作者： Lubbers, Mart Koopman, Pieter Plasmeijer, Rinus Radboud Univ Nijmegen Inst Comp & Informat Sci Nijmegen Netherlands

ISBN: (纸本)9781450371438

In the omnipresent Internet of Things (IoT), tiny devices sense and alter the environment, process information and communicate with the world. These devices have limited amounts of processing power and memory. This imposes severe restrictions on their software and communication protocols. As a result, applications are composed of parts written in various programming languages that communicate in many different ways. This impedance mismatch hampers development and maintenance. In previous work we have shown how an IoT device can be programmed by defining an embedded Domain Specific Language (eDSL). This paper shows how IoT tasks can be seemlessly integrated with a task oriented programming (TOP) server such as itasks. It allows the specification on a high level of abstraction of arbitrary collaborations between human beings, large systems, and now also IoT devices. The implementation is made in three steps. First, there is an interface to connect devices dynamically to an itasks server using various communication protocols. Next, we solve the communication problem between IoT devices and the server by porting Shared Data Sources (SDSs) from TOP. As a result, data can be shared, viewed and updated from the server or IoT device. Finally, we crack the maintenance problem by switching from generating fixed code for the IoT devices to dynamically shipping code. It makes it possible to run multiple tasks on an IoT device and to decide at runtime what tasks that should be.

关键词： Internet of Things Functional programming Distributed Applications task oriented programming Clean

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task-oriented programming of large redundant robot motion

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 1998年第5-6期14卷 363-375页

作者： Westkämper, E Schraft, RD Schweizer, M Herkommer, TF Meissner, A Fraunhofer Inst Mfg Engn & Automat D-70569 Stuttgart Germany

Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially aircraft cleaning and removing paint from hulls. They are equipped with a programmable robot control comparable to a control system used for industrial robots. However, conventional teach-in methods are not able to manage the complexity of programming large redundant robot operation on free-form geometries. The Fraunhofer IPA has developed an innovative off-line programming system that allows the creation of robot motion programs which satisfy time and energy optimization criteria. This system helps to avoid collisions within the workspace and to fulfill conditions that arise from the robot kinematics and dynamics. This advanced programming system has been successfully used to generate motion programs for the world's largest mobile robot, the aircraft cleaning manipulator SKYWASH. In this context offline programs for eleven different types of aircraft have been developed. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： redundant robot motion planning trajectory generation task oriented programming off-line programming spline interpolation

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Increased autonomy in industrial robotic systems: A framework

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1997年第4期19卷 357-373页

作者： Brink, K Olsson, M Bolmsjo, G 00 Lund Sweden

This paper presents an event based control system structure for the control of a robot workcell and its implementation. The goal for this control system is to autonomously manage the dynamic environment of a robot workcell. The presented control system is event driven and operates from tasks and a World model, defined in a task oriented programming session. During realisation of the tasks, the World model is continuously updated by information from sensors. The system always operates on the latest information which may result in re-planning of sub-tasks or whole tasks. The autonomous functionality of the presented system is established through reactive re-planning and configurable corrections. A high level adaptation of the model in the control system to the workcell is of great value for the performance of the robot system. An important and efficient use of robot motion control for application process controlling purposes are enabled through the control systems internal configurable interaction with the environment.

关键词： event based control task oriented programming configurable corrections reactive re-planning autonomy

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Autonomous Manufacturing of Composite Parts by a Multi-Robot System

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Procedia Manufacturing 2017年 11卷 249-255页

作者： Schuster, Alfons Kupke, Michael Larsen, Lars German Aerospace Center (DLR) Institute of Structures and Design Am Technologiezentrum 4 Augsburg 86159 Germany

This work considers an autonomous multi-robot pick-and-place process for the manufacturing of aerospace structures, which consists of the steps picking, transfer, dropping and post-drop treatment. Autonomous production is achieved by combining computer vision assisted gripping, automated transfer path generation and generic process execution in one system. Test scenario is an airplane skin demonstrator made of tailored carbon fiber multiaxial fabrics that are placed in a half-shell shaped jig of approximately 4 m in diameter by two cooperating robots mounted on a common linear axis. © 2017 The Authors

关键词： Autonomous manufacturing composites computer vision generic description Multi-Robot system task oriented programming

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Interpreting task oriented Programs on Tiny Computers 31

Interpreting Task Oriented Programs on Tiny Computers

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31st Symposium on Implementation and Application of Functional Languages (IFL)

作者： Lubbers, Mart Koopman, Pieter Plasmeijer, Rinus Radboud Univ Nijmegen Inst Comp & Informat Sci Nijmegen Netherlands

ISBN: (纸本)9781450375627

Small Microcontroller Units (MCUs) drive the omnipresent Internet of Things (IoT). These devices are small, cheap, and energy efficient. However, they are not very powerful and lack an Operating System. Hence it is difficult to apply high level abstractions and write software that stays close to the design. task oriented programming (TOP) is a paradigm for creating multi-user collaborative systems. A program consists of tasksdescriptions of what needs to be done. The tasks represent the actual work and a task value is observable during execution. Furthermore, tasks can be combined and transformed using combinators. mtask is an embedded Domain Specific Language (eDSL) to program MCUs following the TOP paradigm. Previous work has described the mtask language, a static C code generator, and how to integrate mtask with TOP servers. This paper shows that for dynamic IOT applications, tasks must be sent at runtime to the devices for interpretation. It describes in detail how to compile specialized IOT TOP tasks to bytecode and how to interpret them on devices with very little memory. These additions allow the creation of complete, dynamic IOT applications arising from a single source using a mix of itasks and mtask tasks. Details such as serialization and communication are captured in simple abstractions.

关键词： Internet of Things Functional programming Distributed Applications task oriented programming Clean

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Knowledge Based Off-Line programming of Industrial Robots

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IFAC Proceedings Volumes 1988年第16期21卷 443-451页

作者： R. Bernhardt M. Schahn G. Schreck Fraunhofer Institute for Production Systems and Design Technology Department of Automation Pascalstr. 8-9 D-1000 Berlin 10 FRG

The paper presents a concept and a first realization of a knowledge based off-line programming system. The design is based on an already developed system which was also applied for relevant production tasks. A characteristic feature of the system is a production task specific, dialog oriented user interface. For a flexible realization of the user interface knowledge based approaches have been applied. A concept for a first realization is presented.

关键词： Off-line programming Industrial Robots task oriented programming Graphic Interactive programming Simulation Knowledge Based Approach

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A Solution for the Man/Machine-Interface in Robotics: A High Level Control Language with Enhanced Interaction Equipment

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IFAC Proceedings Volumes 1988年第5期21卷 221-225页

作者： T. Heikkilä T. Torvikoski A. Halme Technical Research Center of Finland Electronics Laboratory Oulu Finland University of Oulu Systems Engineering Laboratory Oulu Finland Helsinki University of Technology Espoo Finland

Man/machine interface which allows on ultra flexible programming and control of a robotic cell is introduced. The interface consists of a high level task oriented control language and a set of interaction equipment. The system is designed to use in applications where the robot has to be taught or reprogrammed frequently because of individual jobs, small series or a radically changing working environment. When needed the system allows the operator work interactively on-line with the robot work cell so that tasks can be processed immediately after communicating them through the interfacing system. The paper explains the main principles used in task allocation between the human and the robot and in language structuring, and describes the man/machine communication facility. Alternatives to represent the world model information is discussed. An example is given to illustrate the main principles.

关键词： Robots man-machine systems task oriented programming interactive teaching methods

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Interpreting task oriented programs on tiny computers 19

Interpreting task oriented programs on tiny computers

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Proceedings of the 31st Symposium on Implementation and Application of Functional Languages

作者： Mart Lubbers Pieter Koopman Rinus Plasmeijer Radboud University Nijmegen The Netherlands

ISBN: (纸本)9781450375627

Small Microcontroller Units (MCUs) drive the omnipresent Internet of Things (IoT). These devices are small, cheap, and energy efficient. However, they are not very powerful and lack an Operating System. Hence it is difficult to apply high level abstractions and write software that stays close to the *** oriented programming (TOP) is a paradigm for creating multi-user collaborative systems. A program consists of tasks---descriptions of what needs to be done. The tasks represent the actual work and a task value is observable during execution. Furthermore, tasks can be combined and transformed using *** is an embedded Domain Specific Language (eDSL) to program MCUs following the TOP paradigm. Previous work has described the mtask language, a static C code generator, and how to integrate mtask with TOP servers. This paper shows that for dynamic IOT applications, tasks must be sent at runtime to the devices for interpretation. It describes in detail how to compile specialized IOT TOP tasks to bytecode and how to interpret them on devices with very little memory. These additions allow the creation of complete, dynamic IOT applications arising from a single source using a mix of itasks and mtask tasks. Details such as serialization and communication are captured in simple abstractions.

关键词： distributed applications internet of things clean functional programming task oriented programming

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