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Hiding task-oriented programming complexity: an industrial case study

INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2023年第11期36卷 1629-1648页

作者： Villagrossi, Enrico Delledonne, Michele Faroni, Marco Beschi, Manuel Pedrocchi, Nicola Natl Res Council Italy Inst Intelligent Ind Technol & Syst Adv Mfg Via A Corti 12 I-20133 Milan Italy Univ Brescia Dept Mech & Ind Engn Brescia Italy

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with robot programmers reluctant to adopt new programming paradigms. This work aims to evaluate the impact on non-expert users of introducing a new task-oriented programming interface that hides the complexity of a programming framework based on ROS. The paper compares the programming performance of such an interface with a classic robot-oriented programming method based on a state-of-the-art robot teach pendant. An experimental campaign involved 22 non-expert users working on the programming of two industrial tasks. task-oriented and robot-oriented programming showed comparable learning time, programming time and the number of questions raised during the programming phases, highlighting the possibility of a smooth introduction to task-oriented programming even to non-expert users.

关键词： Intuitive robot programming task-oriented programming human-machine interaction end-user robot programming

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Reducing the Power Consumption of IoT with task-oriented programming 23rd

Reducing the Power Consumption of IoT with Task-Oriented Pro...

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23rd International Symposium on Trends in Functional programming (TFP)

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

ISBN: (纸本)9783031213137;9783031213144

Limiting the energy consumption of IoT nodes is a hot topic in green computing. For battery-powered devices this necessity is obvious, but the enormous growth of the number of IoT nodes makes energy efficiency important for every node in the IoT. In this paper, we show how we can automatically compute execution intervals for our task-oriented programs for the IoT. These intervals offer the possibility to save energy by bringing the microprocessor driving the IoT node into a low-power sleep mode until the task need to be executed. Furthermore, they offer an elegant way to add interrupts to the system. We do allow an arbitrary number of tasks on the IoT nodes and achieve significant reductions of the energy consumption by bringing the microprocessor in sleep mode as much as possible. We have seen energy reductions of an order of magnitude without imposing any constraints on the tasks to be executed on the IoT nodes.

关键词： Sustainable IoT Green computing task-oriented programming Edge computing

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Evaluating task Optimization and Reinforcement Learning Models in Robotic task Parameterization

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IEEE ACCESS 2024年 12卷 173734-173748页

作者： Delledonne, Michele Villagrossi, Enrico Beschi, Manuel Rastegarpanah, Alireza Natl Res Council Italy Inst Intelligent Ind Technol & Syst Adv Mfg I-20133 Milan Italy Univ Brescia Dept Mech & Ind Engn I-25123 Brescia Italy Univ Birmingham Sch Met & Mat Birmingham B15 2TT England

The rapid evolution of industrial robot hardware has created a technological gap with software, limiting its adoption. The software solutions proposed in recent years have yet to meet the industrial sector's requirements, as they focus more on the definition of task structure than the definition and tuning of its execution parameters. A framework for task parameter optimization was developed to address this gap. It breaks down the task using a modular structure, allowing the task optimization piece by piece. The optimization is performed with a dedicated hill-climbing algorithm. This paper revisits the framework by proposing an alternative approach that replaces the algorithmic component with reinforcement learning (RL) models. Five RL models are proposed with increasing complexity and efficiency. A comparative analysis of the traditional algorithm and RL models is presented, highlighting efficiency, flexibility, and usability. The results demonstrate that although RL models improve task optimization efficiency by 95%, they still need more flexibility. However, the nature of these models provides significant opportunities for future advancements.

关键词： Robots Optimization programming Reinforcement learning Service robots Artificial intelligence Robot sensing systems Software Mathematical models Libraries robotic task optimization task-oriented programming intuitive robot programming

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Dynamic TopHat: Start and Stop tasks at Runtime 35

Dynamic TopHat: Start and Stop Tasks at Runtime

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35th Symposium on Implementation and Application of Functional Languages (IFL)

作者： Steenvoorden, Tim Naus, Nico Open Univ Netherlands Heerlen Netherlands Virginia Tech Blacksburg VA USA

ISBN: (纸本)9798400716317

TOPHAT is a mathematically formalized language for task-oriented programming (TOP). It allows developers to specify workflows and business processes in a formal language, reason about their equality and use symbolic execution to verify their correctness and generate next-step hints. TOPHAT can run workflow specifications supporting collaborators during their execution. However, it can only do so for a statically specified amount of work. That is, the number of tasks running in parallel is always predefined by the developer. In contrast, other top engines like ItaskS and MtaskS act like an operating system, starting and stopping tasks at will. To capture this dynamic nature of workflow systems, we introduce DYNAMIC TOPHAT: a moderate extension to the TOPHAT calculus which allows end-users to initialize and kill tasks at runtime. Although this is a restricted version of the dynamic task lists found in ItaskS, where the system itself can initialize new tasks, we show that common use cases of this feature are still expressible in DYNAMIC TOPHAT. Also, our proposed solution does not compromise the formal reasoning properties of TOPHAT. TOPHAT's metatheory is formalized in the dependently typed programming language IDRIS and its symbolic execution engine is implemented in HASKELL.

关键词： task-oriented programming formal semantics symbolic execution functional programming

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Semantic Equivalence of task-oriented Programs in TopHat 23rd

Semantic Equivalence of Task-Oriented Programs in TopHat

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23rd International Symposium on Trends in Functional programming (TFP)

作者： Klijnsma, Tosca Steenvoorden, Tim Radboud Univ Nijmegen Nijmegen Netherlands Open Univ Heerlen Netherlands

ISBN: (纸本)9783031213137;9783031213144

task-oriented programming (top) is a new programming paradigm for specifying multi-user workflows. To reason formally about top programs, a formal language called TOPHAT has been designed, together with its operational semantics. For proving properties about task-oriented programs, it is desirable to know when two TOPHAT-programs are semantically equivalent. This paper aims to answer this question. We show that a task can be in either one of five conditions, and for every two tasks in the same condition, we define what it means for them to be semantically equivalent. Using this definition, we study a number of transformation laws for TOPHAT-programs, which can be used by developers and compilers to optimise top-programs. We show that the task operation on types in TOPHAT is a functor but cannot be a monad. We support our findings with proofs formalised in the dependently typed programming language I-DRIS.

关键词： task-oriented programming Program equivalence Formal semantics

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Dynamic Editors for Well-Typed Expressions 22nd

Dynamic Editors for Well-Typed Expressions

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22nd International Symposium on Trends in Functional programming (TFP)

作者： Koopman, Pieter Michels, Steffen Plasmeijer, Rinus Radboud Univ Nijmegen Nijmegen Netherlands TOP Software Solut Nijmegen Netherlands

ISBN: (纸本)9783030839789;9783030839772

Interactive systems may require complex inputs. Domain experts prefer guidance in the construction of these inputs. An ideal system prevents errors and is flexible in the construction and changes of its input. The itask system generates web-editors given any first-order algebraic data types. The generated web-editors are useful but have their limitations. It is not possible to combine type safety with overloaded operators and preventing unbounded or ill-typed identifiers is impossible. Using phantom types, generalized algebraic datatypes or functions solves the language problems, but they cannot be handled by the datatype generic system. Moreover, changing expressions can require re-entering large parts of the input. We present dynamic editors that can solve all those problems. The programmer specifies the elements of such an editor by functions. The system shows the applicable edit elements in a drop-down menu to the user. The dynamic editor is used recursively to create the arguments for the selected function. Dynamic editors are seamlessly integrated with the ordinary web-editors of the itask system. The obtained editors guide the users to make correct and type-safe inputs. These editors can be very flexible as well without making strange abstract syntax trees.

关键词： Dynamics Web-editor DSL Type-safe Low-code task-oriented programming

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Generating Next Step Hints for task oriented Programs Using Symbolic Execution 21st

Generating Next Step Hints for Task Oriented Programs Using ...

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21st International Symposium on Trends in Functional programming (TFP)

作者： Naus, Nico Steenvoorden, Tim Open Univ Heerlen Netherlands Radboud Univ Nijmegen Nijmegen Netherlands

ISBN: (纸本)9783030577605;9783030577612

Software that models business workflows is omnipresent in today's society. These systems coordinate collaboration in hospitals, companies, and military institutions. Unfortunately, workflow systems may obfuscate the influence of current user actions on the desired end result. In order to make the right decision, users need to oversee the full process and all information available, both of which are usually buried in the system. We have developed a way to automatically generate next step hints for task oriented programs. task oriented programming provides programmers with an abstraction over workflow software, while still being expressive enough to describe real world collaboration. By leveraging symbolic execution, we can calculate these hints without modification of the original program. To our knowledge, this is the first time that symbolic execution is used to automatically generate next step hints for end users. We prove the generated hints to be sound and complete, and also demonstrate that the symbolic execution semantics we employ is correct for sequential input. In addition, we have developed a Haskell implementation of our automatic next step hint generation system. By providing next step hints, the chance of human error is reduced, while still allowing end users to intervene if required. The overall performance is raised, since the quality of decisions will improve.

关键词： task-oriented programming Next step hint generation Symbolic execution

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A task-oriented Framework for Networked Wearable Computing

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2016年第2期13卷 621-638页

作者： Galzarano, Stefano Giannantonio, Roberta Liotta, Antonio Fortino, Giancarlo Eindhoven Univ Technol TU E Dept Elect Engn NL-5612 AZ Eindhoven Netherlands UNICAL DIMES I-87036 Arcavacata Di Rende Italy Telecom Italia I-10129 Turin Italy

Body Sensor Networks (BSNs) have become prominent in research and industry alike as a powerful enabler of novel applications in human-centered domains. However, developing applications on such systems is still a cumbersome process, due to the lack of suitable software abstractions and the difficulties in managing wearable computing application within the stringent constraints of embedded systems. In this paper, we introduce a novel framework, SPINE2 (Signal Processing In Node Environment), which allows task-oriented programming on a platform-independent architecture. We demonstrate how fairly sophisticated signal-processing applications can be realized in the form of easy-to-implement embedded processes. The proposed architecture is tested experimentally and its features are illustrated through a nontrivial case study.

关键词： Body sensor network embedded system framework heterogeneity multiplatform networked wearable system signal processing task-oriented programming

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Using Process-oriented Interfaces for Solving the Automation Paradox in Highly Automated Navy Vessels

Using Process-Oriented Interfaces for Solving the Automation...

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10th International Conference on Active Media Technology (AMT) held as part of the Web Intelligence Congress (WIC)

作者： van Diggelen, Jurriaan Post, Wilfried Rakhorst, Marleen Plasmeijer, Rinus van Staal, Wessel TNO Soesterberg Netherlands Radboud Univ Nijmegen Nijmegen Netherlands Eaglescience Amsterdam Netherlands

ISBN: (纸本)9783319099125;9783319099118

This paper describes a coherent engineering method for developing high level human machine interaction within a highly automated environment consisting of sensors, actuators, automatic situation assessors and planning devices. Our approach combines ideas from cognitive work analysis, cognitive engineering, ontology engineering, and task-based prototyping. We describe our experiences with this approach when applying this suite to develop an innovative socio-technical system for fighting the internal battle in navy vessels with a strongly reduced manning.

关键词： Human-machine interaction Cognitive engineering task-oriented programming

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programming Signal Processing Applications on Heterogeneous Wireless Sensor Platforms

Programming Signal Processing Applications on Heterogeneous ...

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5th IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems - Technology and Applications (IDAACS)

作者： Buondonno, Luigi Fortino, Giancarlo Galzarano, Stefano Giannantonio, Roberta Giordano, Antonio Gravina, Raffaele Guerrieri, Antonio Univ Calabria Dept Elect Informat & Syst DEIS I-87036 Arcavacata Di Rende CS Italy Telecom Italia TILAB Turin Italy WSN Lab Telecom Italia Berkeley CA 94704 USA

ISBN: (纸本)9781424448814

This paper proposes the SPINE frameworks (SPINE1.x and SPINE2) for the programming of signal processing applications on heterogeneous wireless sensor platforms. In particular, two integrable approaches based on the proposed frameworks are described that allow to develop applications for wireless body sensor networks (WBSNs) constituted by heterogeneous sensor nodes. The approaches are exemplified through a human activity recognition system based on a WBSN composed of two types of sensor nodes, heterogeneous with respect to base software and hardware.

关键词： Wireless body sensor networks software development methodology task-oriented programming distributed signal processing SPINE

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