Playback Robot Programming with Loop Increments

Playback robot programming is fast and easy to use for non-experts, because the robot only needs to be manually guided. However, it is only capable of replaying the trajectory exactly as it was taught. We present the concept of loop increments for playback programmed robots to allow the user to teach tasks like palletizing or stacking without having to explicitly guide the robot through each trajectory. Only the base trajectory for one repetition needs to be program med. After each loop iteration, the user-defined increment is added to the incremental configurations, e.g. to the pick or place configurations. To achieve this, two methods of defining the loop increments are shown. Afterwards, linear, Gaussian, and cosine blending functions in combination with the point and interval method are introduced for weighting the increments and as a foundation for the adaption algorithm. The evaluation showed, that the cosine blending function with the interval method best fits the needs of our programming system.

Towards Automatic Deductive Verification of C Programs with Sisal Loops Using the C-lightVer System

The C-lightVer system is developed in IIS SB RAS for C-program deductive verification. C-kernel is an intermediate verification language in this system. Cloud parallel programming system (CPPS) is also developed in IIS SB RAS. Cloud Sisal is an input language of CPPS. The main feature of CPPS is implicit parallel execution based on automatic parallelization of Cloud Sisal loops. Cloud-Sisal-kernel is an intermediate verification language in the CPPS system. Our goal is automatic parallelization of such a superset of C that allows implementing automatic verification. Our solution is such a superset of C-kernel as C-Sisal-kernel. The first result presented in this paper is an extension of C-kernel by Cloud-Sisal-kernel loops. We have obtained the C-Sisal-kernel language. The second result is an extension of C-kernel axiomatic semantics by inference rule for Cloud-Sisal-kernel loops. The paper also presents our approach to the problem of deductive verification automation in the case of finite iterations over data structures. This kind of loops is referred to as definite iterations. Our solution is a composition of symbolic method of verification of definite iterations, verification condition metageneration and mixed axiomatic semantics method. Symbolic method of verification of definite iterations allows defining inference rules for these loops without invariants. Symbolic replacement of definite iterations by recursive functions is the base of this method. Obtained verification conditions with applications of recursive functions correspond to logical base of ACL2 prover. We use ACL2 system based on computable recursive functions. Verification condition metageneration allows simplifying implementation of new inference rules in a verification system. The use of mixed axiomatic semantics results to simpler verification conditions in some cases.

DEVELOPMENT OF AN AUTOMATED SYSTEM FOR DIAGNOSING EYE DISEASES BASED ON PRODUCTION RULES

В статье рассматриваются вопросы диагностики заболеваний органов зрения и его придаточного аппарата. Медико-социальное значение болезней органов зрения и его придаточного аппарата в современных условиях велико и определяется, прежде всего, их крайне высокой частотой среди различных контингентов населения. Так как зрение является для человека важнейшим из всех органов чувств, без которого невозможна полноценная жизнь, необходимо вовремя выявлять различные патологии и применять незамедлительные меры лечения. Одним из средств повышения эффективности диагностики заболеваний глаз является автоматизация обработки диагностических данных с использованием современных технологий, а именно компьютерной системы поддержки принятия решений. Данная статья посвящена разработке автоматизированной системы диагностики заболеваний глаза на основе продукционных правил. Следует отметить, что процесс медицинского офтальмологического исследования занимает значительное время на различного рода лабораторные анализы, инструментальную диагностику, опрос больного или физического исследования. Автоматизированная компьютерная система диагностики глазных заболеваний предназначена для автоматического установления по характерным признакам таких диагнозов как острый конъюнктивит, острый ирит, острый приступ глаукомы и катаракта. Разработанная программа, реализованная в системе визуального объектно-ориентированного программирования С++, представляется пользователям как консультант для автоматизации работы, что позволит повысить эффективность процесса диагностики заболеваний органов зрения и его придаточного аппарата The article deals with the diagnosis of diseases of the organs of vision and its accessory apparatus. The medical and social significance of diseases of the organs of vision and its accessory apparatus in modern conditions is great and is determined, first of all, by their extremely high frequency among various contingents of the population. Since vision is the most important of all sense organs for a person, without which a full life is impossible, it is necessary to identify various pathologies in time and apply immediate treatment measures. One of the means to increase the effectiveness of the diagnosis of eye diseases is the automation of diagnostic data processing using modern technologies, namely a computer decision support system. This article is devoted to the development of an automated system for diagnosing eye diseases based on production rules. It should be noted that the process of medical ophthalmological examination takes considerable time for various kinds of laboratory tests, instrumental diagnostics, patient interview or physical examination. The automated computer system for the diagnosis of eye diseases is designed to automatically establish the characteristic signs of such diagnoses as acute conjunctivitis, acute iritis, acute attack of glaucoma and cataract. The developed program, implemented in the C++ visual object-oriented programming system, is presented to users as a consultant for automating work, which will increase the efficiency of the process of diagnosing diseases of the visual organs and its accessory apparatus

Time-Fluid Field-Based Coordination through Programmable Distributed Schedulers

Emerging application scenarios, such as cyber-physical systems (CPSs), the Internet of Things (IoT), and edge computing, call for coordination approaches addressing openness, self-adaptation, heterogeneity, and deployment agnosticism. Field-based coordination is one such approach, promoting the idea of programming system coordination declaratively from a global perspective, in terms of functional manipulation and evolution in "space and time" of distributed data structures called fields. More specifically regarding time, in field-based coordination (as in many other distributed approaches to coordination) it is assumed that local activities in each device are regulated by a fair and unsynchronised fixed clock working at the platform level. In this work, we challenge this assumption, and propose an alternative approach where scheduling is programmed in a natural way (along with usual field-based coordination) in terms of causality fields, each enacting a programmable distributed notion of a computation "cause" (why and when a field computation has to be locally computed) and how it should change across time and space. Starting from low-level platform triggers, such causality fields can be organised into multiple layers, up to high-level, collectively-computed time abstractions, to be used at the application level. This reinterpretation of time in terms of articulated causality relations allows us to express what we call "time-fluid" coordination, where scheduling can be finely tuned so as to select the triggers to react to, generally allowing to adaptively balance performance (system reactivity) and cost (resource usage) of computations. We formalise the proposed scheduling framework for field-based coordination in the context of the field calculus, discuss an implementation in the aggregate computing framework, and finally evaluate the approach via simulation on several case studies.

Multichannel Detection of Acoustic Emissions and Localization of the Source with External and Internal Sensors for Partial Discharge Monitoring of Power Transformers

The detection of acoustic emissions with multiple channels and different kinds of sensors (external ultrasound electronic sensors and internal optical fiber sensors) for monitoring power transformers is presented. The source localization based on the times of arrival was previously studied, comparing different strategies for solving the location equations and the most efficient strategy in terms of computational and complexity costs versus performance was selected for analyzing the error propagation. The errors of the acoustic emission source location (localization process) are evaluated from the errors of the times of arrival (detection process). A hybrid programming architecture is proposed to optimize both stages of detection and location. It is formed by a virtual instrumentation system for the acquisition, detection and noise reduction of multiple acoustic channels and an algorithms-oriented programming system for the implementation of the localization techniques (back-propagation and multiple-source separation algorithms could also be implemented in this system). The communication between both systems is performed by a packet transfer protocol that allows continuous operation (e.g., on-line monitoring) and remote operation (e.g., a local monitoring and a remote analysis and diagnosis). For the first time, delay errors are modeled and error propagation is applied with this error source and localization algorithms. The 1% mean delay error propagation gives an accuracy of 9.5 mm (dispersion) and a maximum offset of 4 mm (<1% in both cases) in the AE source localization process. This increases proportionally for more severe errors (up to 5% reported). In the case of a multi-channel internal fiber-optic detection system, the resulting location error with a delay error of 2% is negligible when selecting the most repeated calculated position. These aim at determining the PD area of activity with a precision of better than 1% (<10 mm in 110 cm).

Promoting Communication and Socialisation in Music Therapy for Children with Cerebral Palsy

<p>This research was conducted as an exploratory case study as identified by Yin (2009) using primarily qualitative data gathered from a clinical practice setting with young children. The primary aim was to find out how music therapy could promote communication and socialisation for children with cerebral palsy at an Early Intervention Conductive Education Centre. This case study research involved two indepth cases of children diagnosed with Cerebral Palsy at different levels of severity at aged four to five years old. It documents individual music therapy sessions over a three month period. Assessments of the two children’s communication and socialisation skills were made using the Assessment, Evaluation, and Programming System for Infants and Children (AEPS) to provide a comparison before and after the intervention. Staff perceptions about the nature of the children’s communication and socialisation in music therapy were sought using a short and informal interview with two staff members at the Centre. These three data sources were triangulated in the analysis and the findings are discussed individually. Each child showed diverse observable improvement in communication and socialisation based on perspectives of staff members interviewed, on clinical notes and on the AEPS evaluations. It is hoped that this mixed methods study could lead towards a more specific quantitative inquiry in the future about the effectiveness of music therapy for children with cerebral palsy.</p>

Promoting Communication and Socialisation in Music Therapy for Children with Cerebral Palsy

<p>This research was conducted as an exploratory case study as identified by Yin (2009) using primarily qualitative data gathered from a clinical practice setting with young children. The primary aim was to find out how music therapy could promote communication and socialisation for children with cerebral palsy at an Early Intervention Conductive Education Centre. This case study research involved two indepth cases of children diagnosed with Cerebral Palsy at different levels of severity at aged four to five years old. It documents individual music therapy sessions over a three month period. Assessments of the two children’s communication and socialisation skills were made using the Assessment, Evaluation, and Programming System for Infants and Children (AEPS) to provide a comparison before and after the intervention. Staff perceptions about the nature of the children’s communication and socialisation in music therapy were sought using a short and informal interview with two staff members at the Centre. These three data sources were triangulated in the analysis and the findings are discussed individually. Each child showed diverse observable improvement in communication and socialisation based on perspectives of staff members interviewed, on clinical notes and on the AEPS evaluations. It is hoped that this mixed methods study could lead towards a more specific quantitative inquiry in the future about the effectiveness of music therapy for children with cerebral palsy.</p>

Support tools for functional programming distance learning and teaching

The cloud parallel programming system CPPS being under development at the A.P. Ershov Institute of Informatics Systems SB RAS is based on the Cloud Sisal language which carries on the traditions of previous versions of the Sisal language while remaining a functional data-flow language focused on writing large scientific programs and expanding their capabilities by supporting cloud computing. In this paper, the online environment of the CPPS system which allows a user on any device with Internet access to develop and execute functional programs in the Cloud Sisal language is considered.