Model-driven engineering approach to design and implementation of robot control system

In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model, graphical notation definition and source code generation for subsumption architecture -- a well-known example of robot control architecture. Our goal is to show that both the definition of the robot-control architecture and its supporting tools fits well into the typical workflow of model-driven engineering development.Comment: Presented at DSLRob 2011 (arXiv:cs/1212.3308

Implementation of a production Ada project: The GRODY study

The use of the Ada language and design methodologies that encourage full use of its capabilities have a strong impact on all phases of the software development project life cycle. At the National Aeronautics and Space Administration/Goddard Space Flight Center (NASA/GSFC), the Software Engineering Laboratory (SEL) conducted an experiment in parallel development of two flight dynamics systems in FORTRAN and Ada. The differences observed during the implementation, unit testing, and integration phases of the two projects are described and the lessons learned during the implementation phase of the Ada development are outlined. Included are recommendations for future Ada development projects

Arcadia, a software development environment research project

The research objectives of the Arcadia project are two-fold: discovery and development of environment architecture principles and creation of novel software development tools, particularly powerful analysis tools, which will function within an environment built upon these architectural principles.Work in the architecture area is concerned with providing the framework to support integration while also supporting the often conflicting goal of extensibility. Thus, this area of research is directed toward achieving external integration by providing a consistent, uniform user interface, while still admitting customization and addition of new tools and interface functions. In an effort to also attain internal integration, research is aimed at developing mechanisms for structuring and managing the tools and data objects that populate a software development environment, while facilitating the insertion of new kinds of tools and new classes of objects.The unifying theme of work in the tools area is support for effective analysis at every stage of a software development project. Research is directed toward tools suitable for analyzing pre-implementation descriptions of software, software itself, and towards the production of testing and debugging tools. In many cases, these tools are specifically tailored for applicability to concurrent, distributed, or real-time software systems.The initial focus of Arcadia research is on creating a prototype environment, embodying the architectural principles, which supports Ada1 software development. This prototype environment is itself being developed in Ada.Arcadia is being developed by a consortium of researchers from the University of California at Irvine, the University of Colorado at Boulder, the University of Massachusetts at Amherst, TRW, Incremental Systems Corporation, and The Aerospace Corporation. This paper delineates the research objectives and describes the approaches being taken, the organization of the research endeavor, and current status of the work

Ada task scheduling: A focused Ada investigation

The types of control that are important for real time task scheduling are discussed. Some closely related real time issues are mentioned and major committee and research activities in this area are delineated. Although there are some problems with Ada and its real time task scheduling, Ada presents fewer than any known alternative. Ada was designed for the domain of real time embedded systems, but Ada compilers may not contain a level of task scheduling support that is adequate for all real time applications. The question addressed is which implementations of Ada's task scheduling are adequate for effective real time systems for NASA applications

Effect of Tai Chi Training on Dual-Tasking Performance That Involves Stepping Down among Stroke Survivors: A Pilot Study

Descending stairs demands attention and neuromuscular control, especially with dual-tasking. Studies have demonstrated that stroke often degrades a survivor’s ability to descend stairs. Tai Chi has been shown to improve dual-tasking performance of healthy older adults, but no such study has been conducted in stroke survivors. This study investigated the effect of Tai Chi training on dual-tasking performance that involved stepping down and compared it with that of conventional exercise among stroke survivors. Subjects were randomized into Tai Chi (n=9), conventional exercise (n=8), and control (n=9) groups. Those in the former two groups received 12-week training. Assessments included auditory Stroop test, stepping down test, and dual-tasking test involving both simultaneously. They were evaluated before training (time-1), after training (time-2), and one month after training (time-3). Tai Chi group showed significant improvement in the auditory Stroop test from time-1 to time-3 and the performance was significantly better than that of the conventional exercise group in time-3. No significant effect was found in the stepping down task or dual-tasking in the control group. These results suggest a beneficial effect of Tai Chi training on cognition among stroke survivors without compromising physical task performance in dual-tasking. The effect was better than the conventional exercise group. Nevertheless, further research with a larger sample is warranted

Ada and the rapid development lifecycle

JPL is under contract, through NASA, with the US Army to develop a state-of-the-art Command Center System for the US European Command (USEUCOM). The Command Center System will receive, process, and integrate force status information from various sources and provide this integrated information to staff officers and decision makers in a format designed to enhance user comprehension and utility. The system is based on distributed workstation class microcomputers, VAX- and SUN-based data servers, and interfaces to existing military mainframe systems and communication networks. JPL is developing the Command Center System utilizing an incremental delivery methodology called the Rapid Development Methodology with adherence to government and industry standards including the UNIX operating system, X Windows, OSF/Motif, and the Ada programming language. Through a combination of software engineering techniques specific to the Ada programming language and the Rapid Development Approach, JPL was able to deliver capability to the military user incrementally, with comparable quality and improved economies of projects developed under more traditional software intensive system implementation methodologies

An Ada-like language to facilitate reliable coding of low cost embedded systems

Due to a lack of operating system (0/S) support, it is more difficult to develop programs for embedded systems than for workstations. For those developing on a low budget, the problem is often further compounded by the necessity of using inappropriate, 0/S dependent, compilers. This study attempts to ascertain those elements of a High Level Language (HLL) which are absolutely necessary and implementable to produce reliable, efficient, embedded programs without the benefit of a large budget. The study is based upon the Ada philosophy as the Ada language incorporates many desirable features for modelling real-world problems in terms of embedded solutions. By implication, the research provides a small step towards an increased availability of low cost tools to assist in the development of reliable and efficient code for use in medium performance embedded systems

Ground Systems Development Environment (GSDE) interface requirements and prototyping plan

This report describes the data collection and requirements analysis effort of the Ground System Development Environment (GSDE) Interface Requirements study. It identifies potential problems in the interfaces among applications and processors in the heterogeneous systems that comprises the GSDE. It describes possible strategies for addressing those problems. It also identifies areas for further research and prototyping to demonstrate the capabilities and feasibility of those strategies and defines a plan for building the necessary software prototypes

Influência do treino em esteira na marcha em dupla tarefa em indivíduos com Doença de Parkinson: estudo de caso

The loss in the automaticity of gait hinders the performance of concurrent activities - Dual Task (DT) - in individuals with Parkinson's disease (PD). One hypothesis for the negative interference of DT on gait is related to the limitation of attention resources in the brain for different activities. When the automation of a task occurs, the negative interference of DT on the gait can be minimized. Because the treadmill promotes automaticity of a better locomotion pattern, due to the repetition that promotes motor learning, the study sought to investigate whether treadmill training can improve the performance of gait on DT in people with PD. Three individuals were evaluated in the on-phase of the antiparkinsonian medication regarding the kinematics (Qualisys Motion Capture System) while in gait, simultaneously performing cognitive activities. Subsequently, the subjects performed a 20-minute workout on the treadmill and were reassessed during gait in cognitive activities. There were increases in the length of the cycle (p=0.01), the length of the step (p=0.01) and in total swing time (p=0.03), and a decrease in the total length of support (p=0.03). These results indicate that treadmill training can promote improvement in the performance of DT on gait in individuals with PD. Longitudinal studies with this focus of research are needed.La pérdida en el automatismo de la marcha dificulta la realización de actividades simultáneas - Doble Tarea (DT) - en personas con enfermedad de Parkinson (EP). Una hipótesis para la interferencia negativa de la DT en la marcha está relacionada con la limitación de recursos cerebrales de atención para diferentes actividades. Cuando se produce la automatización de una de las tareas, la interferencia negativa de la DT sobre la marcha podrá ser minimizada. Como la cinta de correr promueve la automaticidad de un mejor patrón locomotor, debido a la repetición que favorece el aprendizaje motor, el estudio trató de investigar si el entrenamiento en cinta de correr puede mejorar el desempeño de marcha en DT en personas con EP. Tres individuos fueron evaluados en la fase on del medicamento antiparkinsoniano en cuanto a la cinemática (Qualisys Motion Capture System), mientras se realizaba la marcha simultáneamente a actividades cognitivas. Posteriormente, los individuos realizaron un entrenamiento de 20 minutos en la cinta y fueron evaluados de nuevo durante la marcha en actividades cognitivas. Hubo aumentos en longitud de la pasada (p=0,01), la longitud del paso (p=0,01) y en el tiempo total del abalanzar (p=0,03) y una disminución de en tiempo total de apoyo (p=0,03). Estos resultados indican que el entrenamiento en cinta puede promover la mejora en el rendimiento de marcha en DT en personas con EP, y que se necesitan estudios longitudinales con este enfoque de investigación.A perda na automaticidade da marcha dificulta a realização de atividades concorrentes - Dupla Tarefa (DT) - em indivíduos com Doença de Parkinson (DP). Uma hipótese para a interferência negativa da DT sobre a marcha está relacionada à limitação de recursos cerebrais atentivos para as diferentes atividades. Caso ocorra a automatização de uma das tarefas, a interferência negativa da DT sobre a marcha poderá ser minimizada. Como a esteira promove automaticidade de um melhor padrão locomotor, devido à repetição que favorece a aprendizagem motora, o estudo buscou investigar se o treino em esteira pode melhorar o desempenho de marcha em DT em pessoas com DP. Três indivíduos foram avaliados na fase on do medicamento antiparkinsoniano quanto à cinemetria (Qualisys Motion Capture System), enquanto realizavam a marcha simultaneamente a atividades cognitivas. Posteriormente, os indivíduos realizaram um treino de 20 minutos na esteira e foram reavaliados durante a marcha em atividades cognitivas. Houve aumentos no comprimento da passada (p=0,01), no comprimento do passo (p=0,01) e no tempo total de apoio (p=0,03). Esses resultados indicam que o treino em esteira pode promover melhora no desempenho de marcha em DT em indivíduos com DP, sendo necessários estudos longitudinais com esse foco de investigação