An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects ...An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.展开更多
Concurrent programs written in a machine level language are being used in many areas but verification of such programs brings new challenges to the programming language community. Most of the studies in the literature...Concurrent programs written in a machine level language are being used in many areas but verification of such programs brings new challenges to the programming language community. Most of the studies in the literature on verifying the safety properties of concurrent programs are for high-level languages, specifications, or calculi. Therefore, more studies are needed on concurrency verification for machine level language programs. This paper describes a framework of a Petri net based safety policy for the verification of concurrent assembly programs, to exploit the capability of Petri nets in concurrency modeling. The concurrency safety properties can be considered separately using the net structure and by mixing Hoare logic and computational tree logic. Therefore, more useful higher-level safety properties can be specified and verified.展开更多
文摘An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.
基金Supported by the Basic Research Foundation of Tsinghua National Laboratory for Information Science and Technology (TNList)the National Natural Science Foundation of China (No. 60573017)the National High-Tech Research and Development (863) Program of China (No. 2006AA01Z198)
文摘Concurrent programs written in a machine level language are being used in many areas but verification of such programs brings new challenges to the programming language community. Most of the studies in the literature on verifying the safety properties of concurrent programs are for high-level languages, specifications, or calculi. Therefore, more studies are needed on concurrency verification for machine level language programs. This paper describes a framework of a Petri net based safety policy for the verification of concurrent assembly programs, to exploit the capability of Petri nets in concurrency modeling. The concurrency safety properties can be considered separately using the net structure and by mixing Hoare logic and computational tree logic. Therefore, more useful higher-level safety properties can be specified and verified.
