Explicit Programming Languages Research Articles

Procedure for definition of end-effector orientation in planar surfaces robot applications

Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.

A continuation‐based task programming model for C++: design of the Causeway library

SummaryThere is a big class of problems that requires writing programs in an asynchronous manner. Cloud computing, service‐oriented architectures, multi‐core and heterogeneous systems all require programs to be written with asynchronous components. The necessity of concurrency and asynchronous execution brings in the added complexity of the inversion of control into the system, either through message passing or through event processing. In this paper, we introduce explicit programming language support for asynchronous programming that completely hides inversion of control. The presented programming model defines a common abstraction of the different types of tasks, both synchronous and asynchronous. It defines common imperative control constructs equivalent to those of the host programming language, along with a few more advanced ones for transactional and parallel execution that can universally work for any task type. It allows the programmer to implement the logic of an asynchronous system in a natural way by writing simple, seemingly, synchronous imperative code. We will show that the programs written using this approach are easier to understand by programmers. They are also easier to design automated tests for, and for performing computer‐based static analysis of the program logic. The principles behind this approach were tested in a couple of real‐world systems with worldwide user base. Our experience shows that it makes the complex code with a lot of interdependencies between asynchronously executed tasks easy to write and reason about. Copyright © 2016 John Wiley & Sons, Ltd.

Stochastic P systems and the simulation of biochemical processes with dynamic compartments

We introduce a sequential rewriting strategy for P systems based on Gillespie’s stochastic simulation algorithm, and show that the resulting formalism of stochastic P systems makes it possible to simulate biochemical processes in dynamically changing, nested compartments. Stochastic P systems have been implemented using the spatially explicit programming language M G S . Implementation examples include models of the Lotka–Volterra auto-catalytic system, and the life cycle of the Semliki Forest virus.

Explicit programming languages in industrial robots

Explicit programming languages in industrial robots

An Integrated Multisensor Robot System

This paper presents a Sensor Based Robot System developed for the DISAM E-65 scara type robot, which was designed by this Department. The DISAM E-65’s gripper also has been developed and it is equipped with several sensors, such as force-torque, vision, proximity and touch, that permit to modify robot movements in real time, according to the environment’s state. The whole system is controlled by a PDP 11-73 microcomputer, in which a new robot explicit programming language (LRS) also has been created, in order to integrate the programming of the robot and sensors. This language is an extension of the general purpose programming language PASCAL, and adds new data types and powerful instructions (such as compliant and guarded motions), so that the system becomes easy to program and to adapt to future applications.

Explicit programming languages in industrial robots

This paper discusses issues of design for software systems for computer controlled manipulators. A short review of the features which have become important in present soft-ware systems for industrial applications is presented, including how various desirable system capabilities can be introduced at reasonable computational costs. The paper is based mainly on the experiences obtained in designing and implementing MAL, a software system for controlling and programming an experimental robot, and VML, a machine independent intermediate language to be used as a target for compliers of high level programming languages for robots. An explanation of how management of multiprocess capabilities, synchronization of different devices, error handling and other desirable features can be inserted in a simple system, implemented on micro and minicomputers and made suitable for industrial applications will be shown.