4,407 research outputs found
Specifications and programs for computer software validation
Three software products developed during the study are reported and include: (1) FORTRAN Automatic Code Evaluation System, (2) the Specification Language System, and (3) the Array Index Validation System
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
Model Based Teleoperation to Eliminate Feedback Delay NSF Grant BCS89-01352 Second Report
We are conducting research in the area of teleoperation with feedback delay. Delay occurs with earth-based teleoperation in space and with surface-based teleoperation with untethered submersibles when acoustic communication links are involved. The delay in obtaining position and force feedback from remote slave arms makes teleoperation extremely difficult leading to very low productivity. We have combined computer graphics with manipulator programming to provide a solution to the problem. A teleoperator master arm is interfaced to a graphics based simulator of the remote environment. The system is then coupled with a robot manipulator at the remote, delayed site. The operator\u27s actions are monitored to provide both kinesthetic and visual feedback and to generate symbolic motion commands to the remote slave. The slave robot then executes these symbolic commands delayed in time. While much of a task proceeds error free, when an error does occur, the slave system transmits data back to the master environment which is then reset to the error state from which the operator continues the task
A Survey of Symbolic Execution Techniques
Many security and software testing applications require checking whether
certain properties of a program hold for any possible usage scenario. For
instance, a tool for identifying software vulnerabilities may need to rule out
the existence of any backdoor to bypass a program's authentication. One
approach would be to test the program using different, possibly random inputs.
As the backdoor may only be hit for very specific program workloads, automated
exploration of the space of possible inputs is of the essence. Symbolic
execution provides an elegant solution to the problem, by systematically
exploring many possible execution paths at the same time without necessarily
requiring concrete inputs. Rather than taking on fully specified input values,
the technique abstractly represents them as symbols, resorting to constraint
solvers to construct actual instances that would cause property violations.
Symbolic execution has been incubated in dozens of tools developed over the
last four decades, leading to major practical breakthroughs in a number of
prominent software reliability applications. The goal of this survey is to
provide an overview of the main ideas, challenges, and solutions developed in
the area, distilling them for a broad audience.
The present survey has been accepted for publication at ACM Computing
Surveys. If you are considering citing this survey, we would appreciate if you
could use the following BibTeX entry: http://goo.gl/Hf5FvcComment: This is the authors pre-print copy. If you are considering citing
this survey, we would appreciate if you could use the following BibTeX entry:
http://goo.gl/Hf5Fv
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses
While robotic spatial extrusion has demonstrated a new and efficient means to
fabricate 3D truss structures in architectural scale, a major challenge remains
in automatically planning extrusion sequence and robotic motion for trusses
with unconstrained topologies. This paper presents the first attempt in the
field to rigorously formulate the extrusion sequence and motion planning (SAMP)
problem, using a CSP encoding. Furthermore, this research proposes a new
hierarchical planning framework to solve the extrusion SAMP problems that
usually have a long planning horizon and 3D configuration complexity. By
decoupling sequence and motion planning, the planning framework is able to
efficiently solve the extrusion sequence, end-effector poses, joint
configurations, and transition trajectories for spatial trusses with
nonstandard topologies. This paper also presents the first detailed computation
data to reveal the runtime bottleneck on solving SAMP problems, which provides
insight and comparing baseline for future algorithmic development. Together
with the algorithmic results, this paper also presents an open-source and
modularized software implementation called Choreo that is machine-agnostic. To
demonstrate the power of this algorithmic framework, three case studies,
including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure
The engineering design integration (EDIN) system
A digital computer program complex for the evaluation of aerospace vehicle preliminary designs is described. The system consists of a Univac 1100 series computer and peripherals using the Exec 8 operating system, a set of demand access terminals of the alphanumeric and graphics types, and a library of independent computer programs. Modification of the partial run streams, data base maintenance and construction, and control of program sequencing are provided by a data manipulation program called the DLG processor. The executive control of library program execution is performed by the Univac Exec 8 operating system through a user established run stream. A combination of demand and batch operations is employed in the evaluation of preliminary designs. Applications accomplished with the EDIN system are described
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