Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph

We present a walk-through tutorial on the modeling of a complex robotic system, like the newly developed desktop mobile manipulator youBot developed by KUKA[5, 4]. The tutorial shows the design of models for typical robotic elements, done in a reusable object-oriented style. We employ an energy-based approach for modeling and its bondgraph notation to ensure encapsulation of functionality, extendability and reusability of each element of the model. The kinematic representation of mechanical elements is captured using screw theory. The modeling process is explained in two steps: first submodels of separate components are elaborated and next the model is constructed from these components

Introduction to Iltis: An Interactive, Web-Based System for Teaching Logic

Logic is a foundation for many modern areas of computer science. In artificial intelligence, as a basis of database query languages, as well as in formal software and hardware verification --- modelling scenarios using logical formalisms and inferring new knowledge are important skills for going-to-be computer scientists. The Iltis project aims at providing a web-based, interactive system that supports teaching logical methods. In particular the system shall (a) support to learn to model knowledge and to infer new knowledge using propositional logic, modal logic and first-order logic, and (b) provide immediate feedback and support to students. This article presents a prototypical system that currently supports the above tasks for propositional logic. First impressions on its use in a second year logic course for computer science students are reported

A mathematica‐based CAL matrix‐theory tutor for scientists and engineers

Under the TLTP initiative, the Mathematics Departments at Imperial College and Leeds University are jointly developing a CAL method directed at supplementing the level of mathematics of students entering science and engineering courses from diverse A‐level (or equivalent) backgrounds. The aim of the joint project is to maintain — even increase ‐ the number of students enrolling on such first‐year courses without lowering the courses’ existing mathematical standards

Some issues in the 'archaeology' of software evolution

During a software project's lifetime, the software goes through many changes, as components are added, removed and modified to fix bugs and add new features. This paper is intended as a lightweight introduction to some of the issues arising from an `archaeological' investigation of software evolution. We use our own work to look at some of the challenges faced, techniques used, findings obtained, and lessons learnt when measuring and visualising the historical changes that happen during the evolution of software