62,656 research outputs found

    RAFCON: a Graphical Tool for Task Programming and Mission Control

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    There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools to efficiently program heterogeneous robotic systems. Therefore, we created RAFCON, a graphical tool to develop robotic tasks and to be used for mission control by remotely monitoring the execution of the tasks. To define the tasks, we use state machines which support hierarchies and concurrency. Together with a library concept, even complex scenarios can be handled gracefully. RAFCON supports sophisticated debugging functionality and tightly integrates error handling and recovery mechanisms. A GUI with a powerful state machine editor makes intuitive, visual programming and fast prototyping possible. We demonstrated the capabilities of our tool in the SpaceBotCamp national robotic competition, in which our mobile robot solved all exploration and assembly challenges fully autonomously. It is therefore also a promising tool for various RoboCup leagues.Comment: 8 pages, 5 figure

    Matrix Code

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    Matrix Code gives imperative programming a mathematical semantics and heuristic power comparable in quality to functional and logic programming. A program in Matrix Code is developed incrementally from a specification in pre/post-condition form. The computations of a code matrix are characterized by powers of the matrix when it is interpreted as a transformation in a space of vectors of logical conditions. Correctness of a code matrix is expressed in terms of a fixpoint of the transformation. The abstract machine for Matrix Code is the dual-state machine, which we present as a variant of the classical finite-state machine.Comment: 39 pages, 19 figures; extensions and minor correction

    A NASA family of minicomputer systems, Appendix A

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    This investigation was undertaken to establish sufficient specifications, or standards, for minicomputer hardware and software to provide NASA with realizable economics in quantity purchases, interchangeability of minicomputers, software, storage and peripherals, and a uniformly high quality. The standards will define minicomputer system component types, each specialized to its intended NASA application, in as many levels of capacity as required

    Customizing Data-plane Processing in Edge Routers

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    While OpenFlow enables the customization of the control plane of a router, currently no solutions are available for the customization of the data plane. This paper presents a prototype that offers to third parties (even end-users) the possibility to install their own applications on the data plane of a router, particularly the ones operating at the edge of the network. This paper presents the motivation of the idea, the reason why we use OpenFlow even if it does not seem appropriate for the data plane, the architecture and the implementation of our prototype, and a first characterization of the system running in our la

    Aspect-Oriented Programming

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    Aspect-oriented programming is a promising idea that can improve the quality of software by reduce the problem of code tangling and improving the separation of concerns. At ECOOP'97, the first AOP workshop brought together a number of researchers interested in aspect-orientation. At ECOOP'98, during the second AOP workshop the participants reported on progress in some research topics and raised more issues that were further discussed. \ud \ud This year, the ideas and concepts of AOP have been spread and adopted more widely, and, accordingly, the workshop received many submissions covering areas from design and application of aspects to design and implementation of aspect languages
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