"May You Have a Strong (-Typed) Foundation", Why Strong-Typed Programming Languages Do Matter

Programming efficient and reliable code can be considered a non-trivial task, as it requires deep understanding of the problem to be solved along with good programming skills. However, software frameworks and programming paradigms can provide a dependable infrastructure upon which better programs can be written and deployed. This allows engineers to focus mainly on their task, while relying on the underlying run-time environment for taking care of low-level programming issues, such as memory allocation and disposal, typing consistency and interface compliance. In this paper, we argue that strong-typed programming languages and paradigms offer a valid support for the production of reliable programs. Aware of the challenges of formal measurement metrics for code quality, we present the benefits of strong-typing by considering a practical application: The design and implementation of RoboX, a tour-guide robot for the Swiss National Exhibition Expo.02. The example is extremely well suited for such a discussion, since complex mechatronic applications can be considered critical systemsi.e. systems whose failure may endanger missions, lives and societythus their reliability has to be made a prime concern

Autonomous Navigation and Security: A 13000h/3000km Case Study

This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo.02 (Swiss National Exhibition) from May 15 to October 20. This project has been conjointly conducted by the Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL) and BlueBotics SA the spin-off company of the lab, which has produced the robots. The goal was to maximize the autonomy and mobility of the platform while ensuring high performance, robustness and security. The paper presents the platform, its navigation and security, which resulted in the ANT product (Autonomous Navigation Technology) and the results of the Robotics exhibition as empirical validation of the whole system

Surgical Approach for Long-term Survival of Patients With Intrahepatic Cholangiocarcinoma: A Multi-institutional Analysis of 434 Patients.

OBJECTIVES To examine the outcomes of a hepatectomy for intrahepatic cholangiocarcinoma (IHC) and to clarify the prognostic impact of a lymphadenectomy and the surgical margin. Large series of patients who were surgically treated for IHC are scarce. Thus, prognostic factors and long-term survival after resection of IHC remain uncertain. DESIGN Prospective study of patients who were surgically treated for IHC. Clinicopathologic, operative, and long-term survival data were analyzed. SETTING Prospectively collected data of all consecutive patients with pathologically confirmed IHC who had undergone liver resection with a curative intent at 1 of 16 tertiary referral centers were entered into a multi-institutional registry. PATIENTS All consecutive patients who underwent a hepatectomy with a curative intent for IHC (1990-2008) were identified from a multi-institutional registry. RESULTS A total of 434 patients were included in the analysis. Most patients underwent a major or extended hepatectomy (70.0%) and a systematic lymphadenectomy (62.2%). The incidence of lymph node metastases (overall, 36.9%) increased with increased tumor size, with 24.4% of patients with a small IHC (diameter 643 cm) having N1 disease. Almost one-third of patients required an additional major procedure to obtain a R0 resection in 84.6% of the cases. In these patients, the median time of survival was 39 months, and the 5-year survival rate was 39.8%. Lymph node metastases (hazard ratio, 2.21; P < .001), multiple tumors (hazard ratio, 1.50; P = .009), and an elevated preoperative cancer antigen 19.9 level (hazard ratio, 1.62; P = .006) independently predicted an adverse prognosis. Conversely, survival was not influenced by the width of a negative resection margin (P = .61). The potential survival benefit of a lymphadenectomy was assessed with the therapeutic value index, which was calculated to be 5.9 points. CONCLUSIONS Survival rates after a hepatectomy with a curative intent for IHC at tertiary referral centers exceed the survival rates reported in most study series in single institutions, which strengthens the value of an aggressive approach to radical resection. Lymph node metastases and multiple tumors are associated with decreased survival rates, but they should not be considered selection criteria that prevent other patients from undergoing a potentially curative resection. Lymphadenectomy should be considered for all patients

Designing a Secure and Robust Mobile Interacting Robot for the Long Term

This paper presents the genesis of RoboX. This tour guide robot has been built from the scratch based on the experience of the Autonomous Systems Lab. The production of 11 of those machines has been realized by a spin-off of the lab: BlueBotics SA. The goal was to maximize the autonomy and interactivity of the mobile platform while ensuring high robustness, security and performance. The result is an interactive moving machine which can operate in human environments and interacts by seeing humans, talking to and looking at them, showing icons and asking them to answer its questions. The complete design of mechanics, electronics and software is presented in the first part. Then, as extraordinary test bed, the Robotics exhibition at Expo.02 (Swiss National Exhibition) permits to establish meaningful statistics over 5 months (from May 15 to October 20, 2002) with up to 11 robots operating at the same time