Production of Reliable Flight Crucial Software: Validation Methods Research for Fault Tolerant Avionics and Control Systems Sub-Working Group Meeting

The state of the art in the production of crucial software for flight control applications was addressed. The association between reliability metrics and software is considered. Thirteen software development projects are discussed. A short term need for research in the areas of tool development and software fault tolerance was indicated. For the long term, research in format verification or proof methods was recommended. Formal specification and software reliability modeling, were recommended as topics for both short and long term research

Extending Attribute Grammars to Support Programming-in-the-Large

Attribute grammars add specification of static semantic properties to context-free grammars, which in turn describe the syntactic structure of program units. However, context-free grammars cannot express programming-in-the-large features common in modern programming languages, including unordered collections of units, included units and sharing of included units. We present extensions to context-free grammars, and corresponding extensions to attribute grammars, suitable for defining such features. We explain how batch and incremental attribute evaluation algorithms can be adapted to support these extensions, resulting in a uniform approach to intra-unit and inter-unit static semantic analysis and translation of multi-unit programs

The World According To GARP

This technical report consists of two papers describing the GARP concurrent programming system. Garp: Graph Abstractions for Concurrent Programming investigates construction of dynamic process topologies in parallel processing languages. It proposes the use of a graph-grammar based formalism to control the complexities arising from trying to program such dynamic networks. Garp: A Graphical Language for Concurrent Programming describes the GARP system, a programming environment that implements this graph-grammar approach, and gives solutions to example problems in which the topologies of concurrent systems dynamically change

Symbolic planning for heterogeneous robots through composition of their motion description languages

This dissertation introduces a new formalism to define compositions of interacting heterogeneous systems, described by extended motion description languages (MDLes). The properties of the composition system are analyzed and an automatic process to generate sequential atom plan is introduced. The novelty of the formalism is in producing a composed system with a behavior that could be a superset of the union of the behaviors of its generators. As robotic systems perform increasingly complex tasks, people resort increasingly to switching or hybrid control algorithms. A need arises for a formalism to compose different robotic behaviors and meet a final target. The significant work produced to date on various aspects of robotics arguably has not yet effectively captured the interaction between systems. Another problem in motion control is automating the process of planning and it has been recognized that there is a gap between high level planning algorithms and low level motion control implementation. This dissertation is an attempt to address these problems. A new composition system is given and the properties are checked. We allow systems to have additional cooperative transitions and become active only when the systems are composed with other systems appropriately. We distinguish between events associated with transitions a push-down automaton representing an MDLe can take autonomously, and events that cannot initiate transitions. Among the latter, there can be events that when synchronized with some of another push-down automaton, become active and do initiate transitions. We identify MDLes as recursive systems in some basic process algebra (BPA) written in Greibach Normal Form. By identifying MDLes as a subclass of BPAs, we are able to borrow the syntax and semantics of the BPAs merge operator (instead of defining a new MDLe operator), and thus establish closeness and decidability properties for MDLe compositions. We introduce an instance of the sliding block puzzle as a multi-robot hybrid system. We automate the process of planning and dictate how the behaviors are sequentially synthesized into plans that drive the system into a desired state. The decidability result gives us hope to abstract the system to the point that some of the available model checkers can be used to construct motion plans. The new notion of system composition allows us to capture the interaction between systems and we realize that the whole system can do more than the sum of its parts. The framework can be used on groups of heterogeneous robotic systems to communicate and allocate tasks among themselves, and sort through possible solutions to find a plan of action without human intervention or guidance

Force-directed scheduling in automatic data path synthesis

The HAL system performs data path synthesis using a new scheduling algorithm that 1s part Of an interdependent scheduling and allocation scheme. This scheme uses an BStl-mate of the hardware allocation to guide and optimiza the scheduling subtask. The allocation information includes the number. type. speed and cost of hardware modules as well as the associated multiplexer and interconnect costs. The iterative force-directed scheduling algorithm attempts to balance the distribution of operations that make use Of the same hardware resources:. Every feasible control step assignment is evaluated at each iteration, for a11 operations.. The associated side-effects on all the predecessor and successor operations are taken Into account.. All the decisions are global.. The algorithm has O(n*) complexity. We review and compare existing scheduling techniques. Mod-erate and difficult examples are used to illustrate the ef-fectiveness of the approach. 1