3D Printed Soft Robotic Hand

Soft robotics is an emerging industry, largely dominated by companies which hand mold their actuators. Our team set out to design an entirely 3D printed soft robotic hand, powered by a pneumatic control system which will prove both the capabilities of soft robots and those of 3D printing. Through research, computer aided design, finite element analysis, and experimental testing, a functioning actuator was created capable of a deflection of 2.17” at a maximum pressure input of 15 psi. The single actuator was expanded into a 4 finger gripper and the design was printed and assembled. The created prototype was ultimately able to lift both a 100-gram apple and a 4-gram pill, proving its functionality in two prominent industries: pharmaceutical and food packing

Software Reliability through Theorem Proving

Improving software reliability of mission-critical systems is widely recognised as one of the major challenges. Early detection of errors in software requirements, designs and implementation, need rigorous verification and validation techniques. Several techniques comprising static and dynamic testing approaches are used to improve reliability of mission critical software; however it is hard to balance development time and budget with software reliability. Particularly using dynamic testing techniques, it is hard to ensure software reliability, as exhaustive testing is not possible. On the other hand, formal verification techniques utilise mathematical logic to prove correctness of the software based on given specifications, which in turn improves the reliability of the software. Theorem proving is a powerful formal verification technique that enhances the software reliability for missioncritical aerospace applications. This paper discusses the issues related to software reliability and theorem proving used to enhance software reliability through formal verification technique, based on the experiences with STeP tool, using the conventional and internationally accepted methodologies, models, theorem proving techniques available in the tool without proposing a new model.Defence Science Journal, 2009, 59(3), pp.314-317, DOI:http://dx.doi.org/10.14429/dsj.59.152

Discriminating quantum states: the multiple Chernoff distance

We consider the problem of testing multiple quantum hypotheses $\{\rho_1^{\otimes n},\ldots,\rho_r^{\otimes n}\}$, where an arbitrary prior distribution is given and each of the $r$ hypotheses is $n$ copies of a quantum state. It is known that the average error probability $P_e$ decays exponentially to zero, that is, $P_e=\exp\{-\xi n+o(n)\}$. However, this error exponent $\xi$ is generally unknown, except for the case that $r=2$. In this paper, we solve the long-standing open problem of identifying the above error exponent, by proving Nussbaum and Szko\l a's conjecture that $\xi=\min_{i\neq j}C(\rho_i,\rho_j)$. The right-hand side of this equality is called the multiple quantum Chernoff distance, and $C(\rho_i,\rho_j):=\max_{0\leq s\leq 1}\{-\log\operatorname{Tr}\rho_i^s\rho_j^{1-s}\}$ has been previously identified as the optimal error exponent for testing two hypotheses, $\rho_i^{\otimes n}$ versus $\rho_j^{\otimes n}$. The main ingredient of our proof is a new upper bound for the average error probability, for testing an ensemble of finite-dimensional, but otherwise general, quantum states. This upper bound, up to a states-dependent factor, matches the multiple-state generalization of Nussbaum and Szko\l a's lower bound. Specialized to the case $r=2$, we give an alternative proof to the achievability of the binary-hypothesis Chernoff distance, which was originally proved by Audenaert et al.Comment: v2: minor change

Conjectures, tests and proofs: An overview of theory exploration

A key component of mathematical reasoning is the ability to formulate interesting conjectures about a problem domain at hand. In this paper, we give a brief overview of a theory exploration system called QuickSpec, which is able to automatically discover interesting conjectures about a given set of functions. QuickSpec works by interleaving term generation with random testing to form candidate conjectures. This is made tractable by starting from small sizes and ensuring that only terms that are irreducible with respect to already discovered conjectures are considered. QuickSpec has been successfully applied to generate lemmas for automated inductive theorem proving as well as to generate specifications of functional programs. We give an overview of typical use-cases of QuickSpec, as well as demonstrating how to easily connect it to a theorem prover of the user’s choice

Into the Square: On the Complexity of Some Quadratic-time Solvable Problems

International audienceWe analyze several quadratic-time solvable problems, and we show that these problems are not solvable in truly subquadratic time (that is, in time O(n2−ϵ) for some ϵ>0), unless the well known Strong Exponential Time Hypothesis (in short, SETH) is false. In particular, we start from an artificial quadratic-time solvable variation of the k-Sat problem (already introduced and used in the literature) and we will construct a web of Karp reductions, proving that a truly subquadratic-time algorithm for any of the problems in the web falsifies SETH. Some of these results were already known, while others are, as far as we know, new. The new problems considered are: computing the betweenness centrality of a vertex (the same result was proved independently by Abboud et al.), computing the minimum closeness centrality in a graph, computing the hyperbolicity of a graph, and computing the subset graph of a collection of sets. On the other hand, we will show that testing if a directed graph is transitive and testing if a graph is a comparability graph are subquadratic-time solvable (our algorithm is practical, since it is not based on intricate matrix multiplication algorithms)

Automated Conjecturing in QuickSpec

A key component of mathematical reasoning is the ability to formulate interesting conjectures about a problem domain at hand. This task has not yet been widely studied by the automated reasoning and AI communities, but we believe interest is growing. In this paper, we give a brief overview of a theory exploration system called QuickSpec, able to automatically discover interesting conjectures about a given set of functions. QuickSpec works by interleaving term generation with random testing to form candidate equational conjectures. This is made tractable by starting from small sizes and ensuring that only terms that are irreducible with respect to already discovered equalities are considered. QuickSpec has been successfully applied to generate lemmas for automated inductive theorem proving as well as to generate specifications of functional programs. We also give a small survey of different approaches to conjecture discovery, and speculate about future directions combining symbolic methods and machine learning

Temperature mapping study of United States distribution systems

The purpose of this one-year temperature mapping study was to determine the extreme temperatures and respective durations commercial pharmaceutical products are expected to be exposed to during routine ambient distribution within the continental United States. Extreme temperature conditions may affect the safety and efficacy of pharmaceutical products during distribution. Knowing the value and duration of the extreme temperatures that products are likely to experience in the ambient (uncontrolled) distribution environment allows for improved product degradation testing, optimized thermal package design and scientifically based determination as to when logistical and environmental controls should be used. Before this study, testing was performed using profiles provided by standards organizations. This study was designed to provide company specific data that may be used to design tests, validate, or modify existing test procedures throughout the organization. To achieve this, packages were shipped to selected locations across the United States from the company\u27s Eastern, Southern, and Western Distribution Centers (DCs) during peak summer and winter conditions. The packages were equipped with data logging instrumentation that recorded the temperature and the time-of-day. As a result of this project, the organization now has first hand knowledge of the expected extremes and durations within its United States distribution environment. This information is now in use for study design, logistical decision-making, and proving that appropriate testing has been performed to regulatory bodies

Solar Splash Senior Design Project

Indiana University Purdue University IndianapolisThe Solar Splash senior project is the first attempt at creating an entirely solar propelled watercraft. The initial project intent was to design and create a supplement meets the specifications and compete in the competition. With this in mind, a budget approach was taken in order to be able to fund the task at hand. As the project progressed toward the end of the low-level design phase it was evident that the competition would not occur. At the midpoint of the project, the goals and objectives had changed entirely. The new focus was targeted at proving the operation of the systems involved in the watercraft. Having been faced with a new series of objectives and an entirely new scope, the project began to appear doable. The primary focus of the project at this point entirely relied on simulation data and data analysis. The idea was not reinventing the wheel but rather verifying that the wheel rolled. Using the designed propulsion, solar and sensors systems, with the help of a combination of software programs, the idea of a budget solution can be seen. The software used tell the story of the boat that would have been created had the project continued down the original proposed path. As systems were tested and analyzed, they were also adjusted and improved upon. The analysis process consumed a lot of time but acted as a highlighter for all the flaws that the system suffered from. This document introduces the design concepts and schematics of the Solar Splash senior design project. Within are detailed drawings and diagrams for the electrical systems devised for the construction operation of the watercraft. This report is a means of displaying the layout of the final product and how all systems tie together. The report will contain detailed information on not only hardware aspects but also software and how those will bridge together. The report is meant to be in layman’s terms and should be easily interpreted at all levels. The bulk of the information found in the report will be found in the testing sections where analysis of a theoretical boat is done. The motor design, solar design, and fluid dynamic analysis of the boat hull and propeller can be found in their respective section. The innerworkings, testing processes and thoughts behind each decision can also be found in these sections. The document begins with a table of contents identifying each main and subcategory of information. The next page is the document identification, revision history, and lesser known definitions. Following that is the introduction and scope. Specification requirements for the ‘general requirements’, ‘electrical requirements’ and ‘mechanical requirements’ are found on the following page. A system flowchart can be found in the high-level Design along with the design decision matrices for each system. The design portion then begins starting with the System-wide design changes and decisions. The hardware and software designs and schematics follow and cover the proposed schematics and drawings for the system. Cost breakdowns for each individual system are also found in the low-level section. Testing methodologies, results and an explanation of the testing software can be found after the low-level design. A summation of all these testing results is found near the tail of the document. Conclusions, recommendations, and appendixes can be found as the last three sections, respectively.Electrical Engineering Technolog