Tesis: "And programming of mechatronics systems"

1

Ekström, Sebastian. "Bärbar sensorhandske med force feedback för manövrering av en humanoid robothand - : Implementering med monterade sensorer och motorer för styrning och känsel". Thesis, Linnéuniversitetet, Institutionen för fysik och elektroteknik (IFE), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-86116.

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The goal of this thesis was to create a sensors glove with force feedback feeling when operating a humanoid robot hand. The development covered multiple areas such as mechanics, electronics and programming. The final product gave the user control over three fingers of a humanoid robotic hand. In the case where the robotic hand comes in contact with an object the user's finger movement is limited according to the pressure the robotic hands fingers exposes the object to.
Rapporten beskriver arbetet för framtagandet och skapandet av en sensorhandske med inbyggd force feedback funktion som därmed ska möjliggöra styrning över en mekanisk gripare med hög finmotorik. Detta för att kunna få en mer realistisk manövrering över griparen. Projektet är uppdelat i två system. Ett system för sensorhand som med en Arduino Uno Rev 3 styr servomotorer som används för att återskapa force feedbacken. Utöver det sker även mätning och analys av användarens fingerposition genom potentiometrar. Det andra systemet är för en humanoid robothand som även den använder sig av en Arduino Uno Rev 3 för att manövrera de servomotorer som handen använder för att flytta fingrarna. Mätning och analys av trycksensorer på robothandens fingertoppar genomförs för att möjliggör återskapandet av force feedback till användaren efter det tryck robothanden utsätter ett objekt för. De två systemen använder sig av ett I2C protokoll i form av multimaster and slave struktur för att kommunicera mellan det två mikrokontrollerna samt deras respektive servomotordrivarkretsar (Adafruit- PCA9685). För att undvika krockar i kommunikationen då mer än en master använder I2C linorna skapades en ovanpåliggande struktur för att upprätta regler för hur kommunikationen ska genomföras. All datahantering och kommunikation programmeras i C++. Programmeringskoden är skapad så att utbytet av robothanden och dess servodrivarkrets är möjligt. Sensorhandsken kan därmed implementeras till vad användaren väljer att använda den till, så länge kommunikationen sker med samma regler och struktur som upprättats. Utöver elektronik och programmering har även mycket mekanik tillämpats då olika delar av elektroniken ska byggas in och kunna fungera korrekt med rörliga mekaniska delar. Detta har bland annat använts i skapandet för fingerpositionsmätningen där trimpotentiometrar har byggts in och rörliga delar kan ändra på det resistiva motståndet i komponenten. Trots projektets begränsning till tre fingrar tyder projektet på att det framtagna konceptet av en sensorhandske med force feedback är fullt möjligt och genomförbart.

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2

White, A. S. "Mechatronics of systems with undetermined configurations". Thesis, Middlesex University, 1999. http://eprints.mdx.ac.uk/13478/.

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This work is submitted for the award of a PhD by published works. It deals with some of the efforts of the author over the last ten years in the field of Mechatronics. Mechatronics is a new area invented by the Japanese in the late 1970's, it consists of a synthesis of computers and electronics to improve mechanical systems. To control any mechanical event three fundamental features must be brought together: the sensors used to observe the process, the control software, including the control algorithm used and thirdly the actuator that provides the stimulus to achieve the end result. Simulation, which plays such an important part in the Mechatronics process, is used in both in continuous and discrete forms. The author has spent some considerable time developing skills in all these areas. The author was certainly the first at Middlesex to appreciate the new developments in Mechatronics and their significance for manufacturing. The author was one of the first mechanical engineers to recognise the significance of the new transputer chip. This was applied to the LQG optimal control of a cinefilm copying process. A 300% improvement in operating speed was achieved, together with tension control. To make more efficient use of robots they have to be made both faster and cheaper. The author found extremely low natural frequencies of vibration, ranging from 3 to 25 Hz. This limits the speed of response of existing robots. The vibration data was some of the earliest available in this field, certainly in the UK. Several schemes have been devised to control the flexible robot and maintain the required precision. Actuator technology is one area where mechatronic systems have been the subject of intense development. At Middlesex we have improved on the Aexator pneumatic muscle actuator, enabling it to be used with a precision of about 2 mm. New control challenges have been undertaken now in the field of machine tool chatter and the prevention of slip. A variety of novel and traditional control algorithms have been investigated in order to find out the best approach to solve this problem.

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3

Vasylenko, O. V., G. V. Snizhnoi y Yu S. Yamnenko. "Mechatronics as a basis for cyber-physical systems". Thesis, Київський національний університет технологій та дизайну, 2021. https://er.knutd.edu.ua/handle/123456789/19185.

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4

Zhang, Ruoyu. "An Evaluation of Mixed Criticality Metric for Mechatronics Systems". Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-201092.

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In the thesis, we studied mechatronics systems which integrate tasks (applications) with different level of criticality on a common embedded system. The integration aims to reduce hardware cost (less processors and other components) and the weight and volume of the system. The power consumption of the system would be also reduced. The integration gives a lot of advantages but also creates new challenges. The main challenge of the system development is how to separate (isolate/protect) tasks with different criticality levels. Separation can be classified in two types, temporal separation and spatial separation. Temporal separation ensures that high criticality tasks can access resources with higher priority than low criticality tasks. Spatial separation is about preventing fault propagation from low criticality tasks to high criticality tasks. Many techniques that can make separation of tasks are studied in the thesis, and can be grouped into four categories: scheduling, power management, memory protection and communication protection. To select proper techniques that can improve the system the most, fault tree analysis and mixed criticality metric are employed. Fault tree analysis helps us to find courses of hazards that the system has to deal with. Then, we identify some techniques that can solve the problem of tasks separation. Mixed criticality metric is employed to evaluate these techniques. The evaluation result will help developers to select techniques. A self-balancing robot, which is simulated by SimScape (SimMechanics and SimElectronics) and TrueTime toolbox, was developed for experiments. Such techniques as scheduling, power management and communication protection were examined on the platform. Pros and cons ofthese techniques were evaluated. Finally, a number of recommendations for engineers with regards to the techniques for mixed criticality systems, based on our research, were provided. (Source code are shared in Matlab community).

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5

Kumile, CM y G. Bright. "Sensor fusion control system for computer integrated manufacturing". South African Journal of Industrial Engineering, 2008. http://encore.tut.ac.za/iii/cpro/DigitalItemViewPage.external?sp=1000669.

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Manufacturing companies of today face unpredictable, high frequency market changes driven by global competition. To stay competitive, these companies must have the characteristics of cost-effective rapid response to the market needs. As an engineering discipline, mechatronics strives to integrate mechanical, electronic, and computer systems optimally in order to create high precision products and manufacturing processes. This paper presents a methodology of increasing flexibility and reusability of a generic computer integrated manufacturing (CIM) cell-control system using simulation and modelling of mechatronic sensory system (MSS) concepts. The utilisation of sensors within the CIM cell is highlighted specifically for data acquisition, analysis, and multi-sensor data fusion. Thus the designed reference architecture provides comprehensive insight for the functions and methodologies of a generic shop-floor control system (SFCS), which consequently enables the rapid deployment of a flexible system.

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6

Erdener, Onur Alper. "Development Of A Mechatronics Education Desk". Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1095066/index.pdf.

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In this thesis a mechatronics education desk is developed. The system developed is a low cost, versatile mechatronics education and teaching environment that aims to facilitate hands-on education of undergradutate level mechatronics students. The desk is formed of three main modules that address the needs of mechatronics education: The WorkDesk, Mechatronic Building Blocks and Experimental Setups. These parts are well designed and presented to form a complete and coordinated solution for mechatronics education. The WorkDesk is a platform devoted to the mechatronics engineering trainee, which provides mechanical, electrical and software prototyping that enables studying, testing and parts integration for mechatronic projects. The components building up the WorkDesk are selected or developed to facilitate mechatronics design and prototyping. Mechatronic building blocks necessary for mechatronics teaching are identified and selected to be a part of the system. In order to support these modules, low cost custom building blocks are also developed. These include, an autonomous mobile robot kit and a versatile interface board called ready2go. Demonstrative experiments with custom developed building blocks are also presented. Two experimental setups are developed and presented in the scope of the thesis. The setups, Intelligent Money Selector and Heater/Cooler, address and demonstrate many aspects of mechatronic systems as well as aid introducing systems approach in mechatronics education. As a consequence, a mechatronics education desk is developed and presented with many hands-on educational case studies. The system developed forms an extensible and flexible software and hardware architecture and platform that enables integration of additional mechatronics education modules.

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7

Kirby, Graham N. C. "Reflection and hyper-programming in persistent programming systems". Thesis, University of St Andrews, 1992. http://hdl.handle.net/10023/1673.

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In an orthogonally persistent programming system, data is treated in a manner independent of its persistence. This gives simpler semantics, allows the programmer to ignore details of long-term data storage and enables type checking protection mechanisms to operate over the entire lifetime of the data. The ultimate goal of persistent programming language research is to reduce the costs of producing software. The work presented in this thesis seeks to improve programmer productivity in the following ways: • by reducing the amount of code that has to be written to construct an application; • by increasing the reliability of the code written; and • by improving the programmer’s understanding of the persistent environment in which applications are constructed. Two programming techniques that may be used to pursue these goals in a persistent environment are type-safe linguistic reflection and hyper-programming. The first provides a mechanism by which the programmer can write generators that, when executed, produce new program representations. This allows the specification of programs that are highly generic yet depend in non-trivial ways on the types of the data on which they operate. Genericity promotes software reuse which in turn reduces the amount of new code that has to be written. Hyper-programming allows a source program to contain links to data items in the persistent store. This improves program reliability by allowing certain program checking to be performed earlier than is otherwise possible. It also reduces the amount of code written by permitting direct links to data in the place of textual descriptions. Both techniques contribute to the understanding of the persistent environment through supporting the implementation of store browsing tools and allowing source representations to be associated with all executable programs in the persistent store. This thesis describes in detail the structure of type-safe linguistic reflection and hyper-programming, their benefits in the persistent context, and a suite of programming tools that support reflective programming and hyper-programming. These tools may be used in conjunction to allow reflection over hyper-program representations. The implementation of the tools is described.

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8

Kanjanapas, Kan. "Human Mechatronics Considerations of Sensing and Actuation Systems for Rehabilitation Application". Thesis, University of California, Berkeley, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3640496.

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With the predicted increase in worldwide elderly population in the future and already significant populations of disabled people, assistive technologies and rehabilitation devices are demanded significantly. Utilizing a human mechatronic approach results in several advantages, including capability of measuring insightful information for patient's condition and providing proper assistive torque for abnormal movement correction. This dissertation investigates several domains, including (1) human dynamics model, (2) monitoring systems, and (3) design and control of active lower extremity exoskeleton.

The dissertation begins with a study of a human dynamic model and sensing system for diagnosis and evaluation of patient's gait condition as first step of rehabilitation. A 7-DOF exoskeleton equipped with multiple position sensors and smart shoes is developed, so that this system can deliver patient's joint motion and estimated joint torque information. A human walking dynamic model is derived as it consists of multiple sub-dynamic models corresponding to each gait phase. In addition, a 3D human motion capture system is proposed as it utilizes an inertial measurement unit (IMU) sensor for 3D attitude estimation with embedded time varying complementary filter. This sensing system can deliver 3D orientations of upper extremities, and a forward kinematics animation. For the development of a rehabilitation device, an active lower extremity exoskeleton is proposed. A rotary series elastic actuator (RSEA) is utilized as a main actuator of the exoskeleton. The RSEA uses a torsion spring yielding elastic joint characteristics, which is safe for human robot interaction applications. A RSEA controller design is implemented, including a PID controller, a feedforward controller for friction compensation, and a disturbance observer for disturbance rejection. All sensing and actuation systems developed in this dissertation are verified by simulation studies and experiments.

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9

Roos, Fredrik. "On design methods for mechatronics : servo motor and gearhead". Licentiate thesis, Stockholm, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-167.

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10

Vasquez, Arvallo Agustin. "Condition-based maintenance of actuator systems using a model-based approach /". Full text (PDF) from UMI/Dissertation Abstracts International, 2000. http://wwwlib.umi.com/cr/utexas/fullcit?p3004389.

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11

Sherman, Matthew. "A Hands-on Method of Instruction for Feedback Control Systems and Mechatronics". Honors in the Major Thesis, University of Central Florida, 2005. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/805.

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This item is only available in print in the UCF Libraries. If this is your Honors Thesis, you can help us make it available online for use by researchers around the world by following the instructions on the distribution consent form at http://library.ucf
Bachelors
Engineering and Computer Science
Mechanical Engineering

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12

Roberts, Mike. "Visual programming for transputer systems". Thesis, City University London, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.278422.

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13

Wallace, Malcolm. "Functional programming and embedded systems". Thesis, University of York, 1995. http://etheses.whiterose.ac.uk/10807/.

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14

Church, Stuart Michael. "Energy management system for the diagnosis and control of an automatic guided vehicle". Thesis, Nelson Mandela Metropolitan University, 2016. http://hdl.handle.net/10948/4798.

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With the increase in electronic equipment implemented in various systems, as well as the increase in calculating power that these devices offer, designers are being empowered to make use of this power in real-time systems to diagnose and protect the systems themselves. This reasoning is too compounded by the focus on efficiency and safety in the design of complex systems, as well as the increasing expense and sensitivity of the electronic components themselves. With this in mind, this dissertation aims at developing a comprehensive measurement, control and reaction system for the electrical diagnosis and ultimately optimisation of complex electrical and electronic systems. This system will serve as a real-time diagnosis tool, which will enable the real-time diagnosis of various components in an electro-mechanical system, which can then be interpreted to determine the working state of the various components. Another sphere of this project will involve the accurate monitoring of the battery status as well as actively balancing the series connected batteries. The focus on the batteries will seek to prolong the life of the batteries, while being able to squeeze as much capacity out of them. The initial design and testing will be based on an AGV system implemented at VWSA, however a main goal throughout the design process will be modularity, i.e. the ease of implementation of this system in other systems. The key technologies used in the development of this system will still comprise of the components used in the original AGV, however new prototype components sourced from Microcare are used for the battery management system, while current sensors directly connected to the PLC’s analog input ports will be used for the active monitoring of currents distributed through the AGV.

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15

Proesser, Malte. "A new approach to systems integration in the mechatronic engineering design process of manufacturing systems". Thesis, De Montfort University, 2014. http://hdl.handle.net/2086/10492.

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Creating flexible and automated production facilities is a complex process that requires high levels of cooperation involving all mechatronics disciplines, where software tools being utilised have to work as closely as their users. Some of these tools are well-integrated but others can hardly exchange any data. This research aims to integrate the software systems applied by the mechatronic engineering disciplines to enable an enhanced design process characterised by a more parallel and iterative work flow. This thesis approaches systems integration from a data modelling point of view because it sees information transfer between heterogeneous data models as a key element of systems integration. A new approach has been developed which is called middle-in data modelling strategy since it is a combination of currently applied top-down and bottom-up approaches. It includes the separation of data into core design data which is modelled top-down and detailed design data modules which are modelled bottom-up. The effectiveness of the integration approach has been demonstrated in a case study undertaken for the mechatronic engineering design process of body shop production lines in the automotive industry. However, the application of the middle-in data modelling strategy is not limited to this use case: it can be used to enhance a variety of system integration tasks. The middle-in data modelling strategy is tested and evaluated in comparison with present top-down and bottom-up data modelling strategies on the basis of three test cases. These test cases simulated how the systems integration solutions based on the different data modelling strategies react to certain disturbances in the data exchange process as they would likely occur during industrial engineering design work. The result is that the top-down data modelling strategy is best in maintaining data integrity and consistency while the bottom-up strategy is most flexibly adaptable to further developments of systems integration solutions. The middle-in strategy combines the advantages of top-down and bottom-up approaches while their weaknesses and disadvantages are kept at a minimum. Hence, it enables the maintenance of data modelling consistency while being responsive to multidisciplinary requirements and adaptive during its step-by-step introduction into an industrial engineering process.

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16

Benini, Enrico. "Functional Programming In Modern Software Systems". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017. http://amslaurea.unibo.it/13264/.

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Con questa tesi si vuole studiare come il paradigma funzionale, sebbene sia meno utilizzato rispetto alle controparti imperative ed object oriented, stia influenzando l'industria del software. Durante la trattazione verranno analizzate le motivazioni alla base di questa tendenza e illustrate, attraverso semplici esempi, le principali astrazioni fondanti lo stile funzionale. I risultati delle analisi svolte mostrano come lo stile funzionale sia oramai una conoscenza essenziale e un'alternativa matura e concreta per la produzione del software. Inoltre, questo argomento viene avvalorato dalla crescente importanza che stanno assumendo proprietà software come: concorrenza, scalabilità, correttezza e manutenibilità. Infine, alla luce di queste considerazioni, si presenta un semplice domain-specific language estensibile e integrabile con applicazioni già esistenti. Questo incorpora un sottoinsieme dei concetti trattati e una precisa architettura con lo scopo di astrarre dalle esistenti tecnologie e rendere queste tematiche accessibili.

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17

Klintskog, Erik. "Generic Distribution Support for Programming Systems". Doctoral thesis, Stockholm : Dept. of Microelectronics and Information Technology, The Royal Institute of Technology, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-261.

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18

Foster, Ian. "Parlog as a systems programming language". Thesis, Imperial College London, 1988. http://hdl.handle.net/10044/1/47065.

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19

White, David Robert. "Genetic programming for low-resource systems". Thesis, University of York, 2009. http://etheses.whiterose.ac.uk/757/.

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Embedded systems dominate the computing landscape. This dominance is increasing with the advent of ubiquitous computing whereby lightweight, low-resource systems are being deployed on a vast scale. These systems present new engineering challenges: high-volume production places a stronger emphasis on absolute cost, resources available to executing software are highly constrained, and physical manufacturing capabilities approach hard limits. Add to this the sensitive nature of many of these systems, such as smartcards used for financial transactions, and the development of these systems becomes a formidable engineering challenge. For the software engineer, the incentive to produce efficient and resource-aware software for these platforms is great, yet existing tools do not support them well in this task. It is difficult to assess the impact of decisions made at the source code level in terms of how they change a system's resource consumption. Existing toolchains, together with the very complex interactions of software and their host processors, can produce unforeseen implications at run-time of even small changes. We could describe such a situation as an instance of programming the unprogrammable, and Genetic Programming is one solution method used for such problems. Genetic Programming, inspired by nature's ability to solve problems involving complex interactions and strong pressures on resource consumption, is a clear candidate for attacking the challenges presented in these systems. Genetic Programming facilitates the creation and manipulation of source code in a way that grants us fine control over its measurable characteristics. In this thesis, I investigate the potential of Genetic Programming as a tool in controlling the non-functional properties of software, as a new method of designing code for low-resource systems. I demonstrate the feasibility of this approach, and investigate some of the ways Genetic Programming could be utilised by a practitioner. In doing so, I also identify key components that any application of Genetic Programming to such a domain will require. I review current low-resource system optimisation, Genetic Programming and methods for simultaneously handling multiple requirements. I present a series of empirical investigations designed to provide evidence for and against a set of hypotheses regarding the success of Genetic Programming in solving problems within the low-resource systems domain. These experiments include the creation of new software, the improvement of existing software and the fine-grained control of resource usage in general. Thus I will address a range of non-functional requirements related to the resource-consumption of a program, and demonstrate how we can apply techniques inspired by natural evolution in combination with conventional optimisation methods to address some of the problems that the plethora of low-resource systems present. To conclude, I review the progress made, reassess my hypotheses, and outline how these new methods can be carried forward to a wide range of applications.

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20

Pedro, Vasco Fernando de Figueiredo Tavares. "Constraint programming on hierarchical multiprocessor systems". Doctoral thesis, Universidade de Évora, 2012. http://hdl.handle.net/10174/14184.

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The work reported in this thesis is about constraint processing in the context of hierarchical multiprocessor systems, including distributed systems. More speci cally, it develops techniques and a system to help bringing the power available in today's multiprocessing networked systems into the constraint processing eld. Solving constraint speci ed problems is a process which lends itself naturally to parallelisation, as it usually implies going through very large search spaces, looking for a solution. Parallel constraint solving draws on the idea of dividing the search space among several workers, so the search may proceed faster, and thanks to the declarative nature of constraint programming, the parallelisation happens transparently as far as the user is concerned. However, to fully take advantage of the parallel computing power available, techniques must be developed to help ensure that the workers executing the search are kept busy at all times, which is an issue tackled by this work; RESUMO: Esta tese debruça-se sobre a programação por restrições no contexto dos sistemas multiprocessador hierárquicos, incluindo os sistemas distribuídos. Mais especificamente, o trabalho elaborado desenvolve as técnicas de resolução de problemas de satisfação de restrições recorrendo ao paralelismo. A actualidade do tema prende-se com a cada vez maior divulgação de que são objecto os sistemas multiprocessador que, juntamente com a omnipresença das redes de computadores, põe à nossa disposição uma capacidade de cálculo que necessita de ser posta a uso, o que tarda em acontecer. Nesta tese desenvolve-se um sistema que permite tirar partido desses recursos através do processamento de restrições A programação por restrições é um paradigma declarativo, em que o utilizador não tem de se preocupar com o controlo da computação, e a introdução de paralelismo nesta área pode realizar-se transparentemente. Por outro lado, o processo de pesquisa de soluções para problemas especificados por restrições adapta-se particularmente bem a ser paralelizado. Este tese apresenta uma abordagem _à resolução paralela de restrições, que junta paralelismo local, sob a forma de trabalhadores, com paralelismo distribuído, em que os actores são as equipas. O sistema construído, destinado a sistemas distribuídos de larga escala, que _é descrito e os seus resultados apresentados, inclui distribuição de trabalho, através de roubo de trabalho. Este funciona, localmente, sem a colaboração do roubado e, remotamente, com colaboração, num ambiente em que todas as equipas cooperam na procura da solução.

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21

Lasa, Morán J. Mikel. "A systems engineering approach for computer based design in mechatronics : a common rail application /". Düssdeldorf : VDI-Verl, 2002. http://www.gbv.de/dms/bs/toc/353099538.pdf.

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22

Patel, Nandish V. "Developing living information systems through systems tailorability : deferred systems design". Thesis, Brunel University, 1997. http://bura.brunel.ac.uk/handle/2438/5319.

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An interpretivist investigation of computer-based business information systems was conducted in two commercial companies and two higher education institutes, by using both quantitative questionnaire survey and qualitative interview research methods. The investigation focused on the social and organisational context of information systems development and usage in these organisations. The utility of structured methodologies is now being questioned by some researchers who are calling for alternative approaches, and this investigation draws on that alternative strand of thinking. The collected data primarily reveals that the development and usage of information systems happens in changing organisations, which suggests that the design and usage of information systems must cater for such a changing or dynamic environment. Therefore the data is interpreted using a philosophical outlook encompassing the notion of "living" information systems and Critical Theory, and this philosophical stance regards information technology as liberating human endeavour in organisations. Five sub-concepts and the concept of deferred system's design are derived from the data, which have been formulated to account and cater for change in information systems environments. The concept of deferred system's design encourages the design of information systems which allow for organisational human behaviour, consisting of organisational change, uncertainty, and learning, to be mediated by information technology. A systems design principle called `deferred system's design decisions' is derived to enable designs of tailorable information systems, which may be regarded as one form of living information systems to facilitate such organisational behaviour. An intersubjective theoretical model called the spiral of change model of tailorable information systems is proposed to explain and understand better the changing organisational environment in which information systems must be developed and in which they must function. To inform practice a computer tool is proposed which enables conceptions of " tailorable information systems that employ the principle of deferred system's design decisions and enables modelling changing or dynamic information systems.

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23

Thiele, Sven. "Modeling biological systems with Answer Set Programming". Phd thesis, Universität Potsdam, 2011. http://opus.kobv.de/ubp/volltexte/2012/5938/.

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Biology has made great progress in identifying and measuring the building blocks of life. The availability of high-throughput methods in molecular biology has dramatically accelerated the growth of biological knowledge for various organisms. The advancements in genomic, proteomic and metabolomic technologies allow for constructing complex models of biological systems. An increasing number of biological repositories is available on the web, incorporating thousands of biochemical reactions and genetic regulations. Systems Biology is a recent research trend in life science, which fosters a systemic view on biology. In Systems Biology one is interested in integrating the knowledge from all these different sources into models that capture the interaction of these entities. By studying these models one wants to understand the emerging properties of the whole system, such as robustness. However, both measurements as well as biological networks are prone to considerable incompleteness, heterogeneity and mutual inconsistency, which makes it highly non-trivial to draw biologically meaningful conclusions in an automated way. Therefore, we want to promote Answer Set Programming (ASP) as a tool for discrete modeling in Systems Biology. ASP is a declarative problem solving paradigm, in which a problem is encoded as a logic program such that its answer sets represent solutions to the problem. ASP has intrinsic features to cope with incompleteness, offers a rich modeling language and highly efficient solving technology. We present ASP solutions, for the analysis of genetic regulatory networks, determining consistency with observed measurements and identifying minimal causes for inconsistency. We extend this approach for computing minimal repairs on model and data that restore consistency. This method allows for predicting unobserved data even in case of inconsistency. Further, we present an ASP approach to metabolic network expansion. This approach exploits the easy characterization of reachability in ASP and its various reasoning methods, to explore the biosynthetic capabilities of metabolic reaction networks and generate hypotheses for extending the network. Finally, we present the BioASP library, a Python library which encapsulates our ASP solutions into the imperative programming paradigm. The library allows for an easy integration of ASP solution into system rich environments, as they exist in Systems Biology.
In den letzten Jahren wurden große Fortschritte bei der Identifikation und Messung der Bausteine des Lebens gemacht. Die Verfügbarkeit von Hochdurchsatzverfahren in der Molekularbiology hat das Anwachsen unseres biologischen Wissens dramatisch beschleunigt. Durch die technische Fortschritte in Genomic, Proteomic und Metabolomic wurde die Konstruktion komplexer Modelle biologischer Systeme ermöglicht. Immer mehr biologische Datenbanken sind über das Internet verfügbar, sie enthalten tausende Daten biochemischer Reaktionen und genetischer Regulation. System Biologie ist ein junger Forschungszweig der Biologie, der versucht Biologische Systeme in ihrer Ganzheit zu erforschen. Dabei ist man daran interessiert möglichst viel Wissen aus den unterschiedlichsten Bereichen in ein Modell zu aggregieren, welches das Zusammenwirken der verschiedensten Komponenten nachbildet. Durch das Studium derartiger Modelle erhofft man sich ein Verständnis der aufbauenden Eigenschaften, wie zum Beispiel Robustheit, des Systems zu erlangen. Es stellt sich jedoch die Problematik, das sowohl die biologischen Modelle als auch die verfügbaren Messwerte, oft unvollständig, miteinander unvereinbar oder fehlerhaft sind. All dies macht es schwierig biologisch sinnvolle Schlussfolgerungen zu ziehen. Daher, möchten wir in dieser Arbeit Antwortmengen Programmierung (engl. Answer Set Programming; ASP) als Werkzeug zur diskreten Modellierung system biologischer Probleme vorschlagen. ASP verfügt über eingebaute Eigenschaften zum Umgang mit unvollständiger Information, eine reichhaltige Modellierungssprache und hocheffiziente Berechnungstechniken. Wir präsentieren ASP Lösungen zur Analyse von Netzwerken genetischer Regulierungen, zur Prüfung der Konsistenz mit gemessene Daten, und zur Identifikation von Gründen für Inkonsistenz. Diesen Ansatz erweitern wir um die Möglichkeit zur Berechnung minimaler Reparaturen an Modell und Daten, welche Konsistenz erzeugen. Mithilfe dieser Methode werden wir in die Lage versetzt, auch im Fall von Inkonsistenz, noch ungemessene Daten vorherzusagen. Weiterhin, präsentieren wir einen ASP Ansatz zur Analyse metabolischer Netzwerke. Bei diesem Ansatz, nutzen wir zum einen aus das sich Erreichbarkeit mit ASP leicht spezifizieren lässt und das ASP mehrere mächtige Methoden zur Schlussfolgerung bereitstellt, welche sich auch kombiniert lassen. Dadurch wird es möglich die Synthese Möglichkeiten eines Metabolischen Netzwerks zu erforschen und Hypothesen für Erweiterungen des metabolischen Netzwerks zu berechnen. Zu guter Letzt, präsentieren wir die BioASP Softwarebibliothek. Die BioASP-Bibliothek kapselt unsere ASP Lösungen in das imperative Programmierparadigma und vereinfacht eine Integration von ASP Lösungen in heterogene Betriebsumgebungen, wie sie in der System Biologie vorherrschen.

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24

Chuang, Poon-Hwei. "Fuzzy mathematical programming in civil engineering systems". Thesis, Imperial College London, 1985. http://hdl.handle.net/10044/1/7802.

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25

Lotz, Marco. "Modelling of process systems with Genetic Programming /". Thesis, Link to the online version, 2006. http://hdl.handle.net/10019/570.

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26

Preen, Richard John. "Dynamical genetic programming in learning classifier systems". Thesis, University of the West of England, Bristol, 2011. http://eprints.uwe.ac.uk/25852/.

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Learning Classifier Systems (LCS) traditionally use a ternary encoding to generalise over the environmental inputs and to associate appropriate actions. However, a number of schemes have been presented beyond this, ranging from integers to artificial neural networks. This thesis investigates the use of Dynamical Genetic Programming (DGP) as a knowledge representation within LCS. DGP is a temporally dynamic, graph-based, symbolic representation. Temporal dynamism has been identified as an important aspect in biological systems, artificial life, and cognition in general. Furthermore, discrete dynamical systems have been found to exhibit inherent content-addressable memory. In this thesis, the collective emergent behaviour of ensembles of such dynamical function networks are herein shown to be exploitable toward solving various computational tasks. Significantly, it is shown possible to exploit the variable-length, adaptive memory existing inherently within the networks under an asynchronous scheme, and where all new parameters introduced are self-adaptive. It is shown possible to exploit the collective mechanics to solve both discrete and continuous-valued reinforcement learning problems, and to perform symbolic regression. In particular, the representation is shown to provide improved performance beyond a traditional Genetic Programming benchmark on a number of a composite polynomial regression tasks. Superior performance to previously published techniques is also shown in a continuous-input-output reinforcement learning problem. Finally, it is shown possible to perform multi-step-ahead predictions of a financial time-series by repeatedly sampling the network states at succeeding temporal intervals.

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27

Ahmad, Salman Azeem. "Programming language design for service-oriented systems". Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92961.

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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 179-187).
Designing systems in a service-oriented manner, in which application features are decoupled and run as independently executing services over a network, is becoming more commonplace and popular. Service-oriented programming provides a natural way to model and manage many types of systems and allows software development teams to achieve operational flexibility, scalability, and reliability in a cost-effective manner. In particular, it has been used quite successfully for Web and mobile applications. However, building, deploying, and maintaining service-oriented systems is challenging and requires extensive planning, more effort during development, a detailed understanding of advanced networking techniques, and the use of complicated concurrent programming. This thesis presents a new programming language called Silo. Silo integrates features that address key conceptual and pragmatic needs of service-oriented systems that, holistically, are not easily satisfied by existing languages. Broadly, these needs include: a unified distributed programming model, a simple yet ecient construct for concurrency, a familiar yet extensible syntax, and the ability to interoperate with a rich ecosystem of libraries and tools. In this dissertation, I describe how Silo's features, constructs, and conventions satisfy these needs. Then, I present various compiler and runtime techniques used in Silo's implementation. Lastly, I provide a demonstration, through a variety of programming patterns and applications, of how Silo facilitates the design, implementation, and management of service-oriented systems.
by Salman Azeem Ahmad.
Ph. D.

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28

Connor, R. C. H. "Types and polymorphism in persistent programming systems". Thesis, University of St Andrews, 1991. http://hdl.handle.net/10023/13487.

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29

Dastgeer, Usman. "Skeleton Programming for Heterogeneous GPU-based Systems". Licentiate thesis, Linköpings universitet, PELAB - Laboratoriet för programmeringsomgivningar, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70234.

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In this thesis, we address issues associated with programming modern heterogeneous systems while focusing on a special kind of heterogeneous systems that include multicore CPUs and one or more GPUs, called GPU-based systems.We consider the skeleton programming approach to achieve high level abstraction for efficient and portable programming of these GPU-based systemsand present our work on SkePU library which is a skeleton library for these systems. We extend the existing SkePU library with a two-dimensional (2D) data type and skeleton operations and implement several new applications using newly made skeletons. Furthermore, we consider the algorithmic choice present in SkePU and implement support to specify and automatically optimize the algorithmic choice for a skeleton call, on a given platform. To show how to achieve performance, we provide a case-study on optimized GPU-based skeleton implementation for 2D stencil computations and introduce two metrics to maximize resource utilization on a GPU. By devising a mechanism to automatically calculate these two metrics, performance can be retained while porting an application from one GPU architecture to another. Another contribution of this thesis is implementation of the runtime support for the SkePU skeleton library. This is achieved with the help of the StarPUruntime system. By this implementation,support for dynamic scheduling and load balancing for the SkePU skeleton programs is achieved. Furthermore, a capability to do hybrid executionby parallel execution on all available CPUs and GPUs in a system, even for a single skeleton invocation, is developed. SkePU initially supported only data-parallel skeletons. The first task-parallel skeleton (farm) in SkePU is implemented with support for performance-aware scheduling and hierarchical parallel execution by enabling all data parallel skeletons to be usable as tasks inside the farm construct. Experimental evaluations are carried out and presented for algorithmic selection, performance portability, dynamic scheduling and hybrid execution aspects of our work.

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30

El, Hindi Khalil. "Integrating truth maintenance systems with active database systems for next generation cooperative systems". Thesis, University of Exeter, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.385771.

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31

Holwell, Susan. "Soft systems methodology and its role in information systems". Thesis, Lancaster University, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.364316.

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32

Williams, Adam John. "A Robotic Head Stabilization Device for Post-Trauma Transport". Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/96755.

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The work presented in this thesis focuses on the design and testing of a casualty extraction robot intended to stabilize the head and neck of an unresponsive person. The employment of robots in dangerous locales such as combat zones or the site of a natural disaster has the potential to help keep first responders out of harm's way as well as to improve the efficiency of search and rescue teams. After a review of robotic search and rescue platforms the Semi-Autonomous Victim Extraction Robot(SAVER) is introduced. The necessity of a device intended to support the head and cervical spine during transport on a rescue robot is then discussed. The kinematic and dynamic analyses of various candidate differential mechanisms intended for the head stabilization device are described, and the chosen mechanism is demonstrated in a proof-of-concept device. Following testing with a simple PID controller, it was determined an advanced feedback controller with disturbance rejection capabilities was required. Linear Active Disturbance Rejection Control (LADRC) was chosen for its effectiveness in rejecting perturbations and handling modeling uncertainties. The performance the proposed LADRC control scheme was compared with PID in simulation and the results are presented. Finally, a prototype of the device was designed and built to validate the functionality of the subsystem, and the results of the corresponding experimentation are discussed.
M. S.

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33

Roos, Fredrik. "Towards a methodology for integrated design of mechatronic servo systems". Doctoral thesis, Stockholm : Maskinkonstruktion, Kungliga Tekniska högskolan, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-4473.

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34

Barbieri, Matteo <1993&gt. "Advanced Condition Monitoring of Complex Mechatronics Systems Based on Model-of-Signals and Machine Learning Techniques". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amsdottorato.unibo.it/9607/1/matteo_barbieri_thesis.pdf.

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Prognostics and Health Management (PHM) of machinery has become one of the pillars of Industry 4.0. The introduction of emerging technologies into the industrial world enables new models, new forms, and new methodologies to transform traditional manufacturing into intelligent manufacturing. In this context, diagnostics and prognostics of faults and their precursors has gained remarkable attention, mainly when performed autonomously by systems. The field is flourishing in academia, and researchers have published numerous PHM methodologies for machinery components. The typical course of actions adopted to execute servicing strategies on machinery components requires significant sensor measurements, suitable data processing algorithms, and appropriate servicing choices. Even though the industrial world is integrating more and more Information Technology solutions to keep up with Industry 4.0 new trends most of the proposed solutions do not consider standard industrial hardware and software. Modern controllers are built based on PCs and workstations hardware architectures, introducing more computational power and resources in production lines that we can take advantage of. This thesis focuses on bridging the gap in PHM between the industry and the research field, starting from Condition Monitoring and its application using modern industrial hardware. The cornerstones of this "bridge" are Model-of-Signals (MoS) and Machine Learning techniques. MoS relies on sensor measurements to estimate machine working condition models. Those models are the result of black-box system identification theory, which provides essential rules and guidelines to calculate them properly. MoS allows the integration of PHM modules into machine controllers, exploiting their edge-computing capabilities, because of the availability of recursive estimation algorithms. Besides, Machine Learning offers the tools to perform a further refinement of the extracted information, refining data for diagnostics, prognostics, and maintenance decision-making, and we show how its integration is possible within the modern automation pyramid.

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35

Ahluwalia, Manu. "Co-evolving functions in genetic programming". Thesis, University of the West of England, Bristol, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322427.

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36

Collier, Ian. "Program development in action systems". Thesis, University of Oxford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260742.

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37

Rønningen, Erlend y Tore Steinmoen. "Metrics for Aspect-Oriented Programming of middleware systems". Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2004. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-266.

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In this diploma thesis we have aimed to identify metrics that accommodate two chosen system quality factors and implementing the selected metrics in a metrics tool. The metrics chosen should measure change in the system quality factors reusability and maintainability for the middleware system COS at Telenor Mobile and similar systems. The metrics tool should support the aspect-oriented programming language AspectJ, and is planned to be a plugin to the open source code analysis framework XRadar. Changes due to introduction of aspects are of particular interest.

We have through a GQM process identified the following subcharacteristics for the chosen system quality factors: modularity, testability, analyzability, changeability and stability. Questions are formulated to analyze these sub factors, and metrics that can answer the questions are chosen.

We have implemented the tool AspectMetrics, which calculate metrics on Java and AspectJ code and generates an XML report containing the measurement results. A transformation from XML to HTML web pages is also provided. The metrics tool can measure size metrics, like the number of statements and the number of classes, coupling, fan-in/fan-out, cohesion and advice-in/advice-out. Advice-in and advice-out are two new metrics which respectively measures how many advice a class (or aspect) is affected by and how many joinpoints an advice hits on. These metrics are inspired by the concept for the fan-in and fan-out metrics.

The tool has been used to analyze two versions of the system DIAS v.2.0, which is a part of a diploma study in 2000. We have in our preparation project in 2003 added aspects to the DIAS system while keeping the system functionally equal to the original version. We have used our metrics tool to calculate the differences between the system with and the system without aspects. The introduction of aspects gave a positive change in coupling, fan-in/fan-out and size measures, while cohesion was negatively affected. The metrics thus, overall, indicated a positive change to the subcharacteristics testability, analyzability, changeability and stability and both the main quality factors. There was no indication of a positive change to modularity.

The analysis of the measurement results indicates that most of the metrics perform as intended. The size metrics, coupling, fan-in/fan-out, and advice-in/advice-out all gave results that corresponded to what we had expected. However, the cohesion measure did not behave in a way that could be correlated to the actual changes performed on the code. A closer analysis showed that moving and merging of functionality could result in either an increase or a decrease in cohesion. Thus we find that cohesion, at least in its current form, is not a suitable metric when using aspect-oriented programming. Further, this gave reason to reinvestigate the disappointing modularity results. With a reworked set of criteria we also found indication of improved modularity.

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38

De, Garis Hugo. "Genetic programming. GenNets, artificial nervous systems, artificial morphogenesis". Doctoral thesis, Universite Libre de Bruxelles, 1992. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/212933.

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39

Hanif, Asad Fowad. "Suitability of RISC multiprocessors for functional programming systems". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq23804.pdf.

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40

Dunkels, Adam. "Programming Memory-Constrained Networked Embedded Systems. PhD thesis". Doctoral thesis, Västerås : Department of Computer Science and Electronics, Mälardalen University, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-173.

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41

Arad, Cosmin Ionel. "Programming Model and Protocols for Reconfigurable Distributed Systems". Doctoral thesis, KTH, Programvaruteknik och Datorsystem, SCS, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-122311.

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Distributed systems are everywhere. From large datacenters to mobile devices, an ever richer assortment of applications and services relies on distributed systems, infrastructure, and protocols. Despite their ubiquity, testing and debugging distributed systems remains notoriously hard. Moreover, aside from inherent design challenges posed by partial failure, concurrency, or asynchrony, there remain significant challenges in the implementation of distributed systems. These programming challenges stem from the increasing complexity of the concurrent activities and reactive behaviors in a distributed system on the one hand, and the need to effectively leverage the parallelism offered by modern multi-core hardware, on the other hand. This thesis contributes Kompics, a programming model designed to alleviate some of these challenges. Kompics is a component model and programming framework for building distributed systems by composing message-passing concurrent components. Systems built with Kompics leverage multi-core machines out of the box, and they can be dynamically reconfigured to support hot software upgrades. A simulation framework enables deterministic execution replay for debugging, testing, and reproducible behavior evaluation for largescale Kompics distributed systems. The same system code is used for both simulation and production deployment, greatly simplifying the system development, testing, and debugging cycle. We highlight the architectural patterns and abstractions facilitated by Kompics through a case study of a non-trivial distributed key-value storage system. CATS is a scalable, fault-tolerant, elastic, and self-managing key-value store which trades off service availability for guarantees of atomic data consistency and tolerance to network partitions. We present the composition architecture for the numerous protocols employed by the CATS system, as well as our methodology for testing the correctness of key CATS algorithms using the Kompics simulation framework. Results from a comprehensive performance evaluation attest that CATS achieves its claimed properties and delivers a level of performance competitive with similar systems which provide only weaker consistency guarantees. More importantly, this testifies that Kompics admits efficient system implementations. Its use as a teaching framework as well as its use for rapid prototyping, development, and evaluation of a myriad of scalable distributed systems, both within and outside our research group, confirm the practicality of Kompics.

QC 20130520

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42

Hanif, Asad Fowad. "Suitability of RISC multiprocessors for functional programming systems". Thesis, University of New Brunswick, 1997. http://hdl.handle.net/1882/513.

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43

Mehandjiev, Nikolay Dimitrov. "User enhanceability for information systems through visual programming". Thesis, University of Hull, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.389464.

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44

Gee, David Malcolm. "A visual programming language for real-time systems". Thesis, Northumbria University, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.386684.

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45

Craig, Robert George Alexander. "Implementation, control and programming of digital optical systems". Thesis, Heriot-Watt University, 1991. http://hdl.handle.net/10399/879.

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46

Schild, Uri Jakob. "Open-textured law, expert systems and logic programming". Thesis, Imperial College London, 1990. http://hdl.handle.net/10044/1/46539.

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47

Phillips, Brenton A. (Brenton Asher) 1976. "Metaglue : a programming language for multi-agent systems". Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/80557.

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Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.
Includes bibliographical references (p. 83-84).
by Brenton A. Phillips.
S.B.and M.Eng.

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48

Arad, Cosmin. "Programming Model and Protocols for Reconfigurable Distributed Systems". Doctoral thesis, SICS, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:ri:diva-24202.

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Distributed systems are everywhere. From large datacenters to mobile devices, an ever richer assortment of applications and services relies on distributed systems, infrastructure, and protocols. Despite their ubiquity, testing and debugging distributed systems remains notoriously hard. Moreover, aside from inherent design challenges posed by partial failure, concurrency, or asynchrony, there remain significant challenges in the implementation of distributed systems. These programming challenges stem from the increasing complexity of the concurrent activities and reactive behaviors in a distributed system on the one hand, and the need to effectively leverage the parallelism offered by modern multi-core hardware, on the other hand. This thesis contributes Kompics, a programming model designed to alleviate some of these challenges. Kompics is a component model and programming framework for building distributed systems by composing message-passing concurrent components. Systems built with Kompics leverage multi-core machines out of the box, and they can be dynamically reconfigured to support hot software upgrades. A simulation framework enables deterministic execution replay for debugging, testing, and reproducible behavior evaluation for large-scale Kompics distributed systems. The same system code is used for both simulation and production deployment, greatly simplifying the system development, testing, and debugging cycle. We highlight the architectural patterns and abstractions facilitated by Kompics through a case study of a non-trivial distributed key-value storage system. CATS is a scalable, fault-tolerant, elastic, and self-managing key-value store which trades off service availability for guarantees of atomic data consistency and tolerance to network partitions. We present the composition architecture for the numerous protocols employed by the CATS system, as well as our methodology for testing the correctness of key CATS algorithms using the Kompics simulation framework. Results from a comprehensive performance evaluation attest that CATS achieves its claimed properties and delivers a level of performance competitive with similar systems which provide only weaker consistency guarantees. More importantly, this testifies that Kompics admits efficient system implementations. Its use as a teaching framework as well as its use for rapid prototyping, development, and evaluation of a myriad of scalable distributed systems, both within and outside our research group, confirm the practicality of Kompics.
Kompics
CATS
REST

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49

McNally, David J. "Models for persistence in lazy functional programming systems". Thesis, University of St Andrews, 1993. http://hdl.handle.net/10023/13436.

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Research into providing support for long term data in lazy functional programming systems is presented in this thesis. The motivation for this work has been to reap the benefits of integrating lazy functional programming languages and persistence. The benefits are: the programmer need not write code to support long term data since this is provided as part of the programming system; persistent data can be used in a type safe way since the programming language type system applies to data with the whole range of persistence; the benefits of lazy evaluation are extended to the full lifetime of a data value. Whilst data is reachable, any evaluation performed on the data persists. A data value changes monotonically from an unevaluated state towards a completely evaluated state over time. Interactive data intensive applications such as functional databases can be developed. These benefits are realised by the development of models for persistence in lazy functional programming systems. Two models are proposed which make persistence available to the functional programmer. The first, persistent modules, allows values named in modules to be stored in persistent storage for later reuse. The second model, stream persistence allows dynamic, interactive access to persistent storage. These models are supported by a system architecture which incorporates a persistent abstract machine, PCASE, integrated with a persistent object store. The resulting persistent lazy functional programming system, Staple, is used in prototyping and functional database modelling experiments.

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50

Pouget, Kevin. "Programming-Model Centric Debugging for Multicore Embedded Systems". Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENM008/document.

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Dans cette thèse, nous proposons d'étudier le débogage interactif d'applications pour les systèmes embarqués MPSoC (Multi-Processor System on Chip). Une étude de l'état de l'art a montrée que la conception et le développement de ces applications reposent de plus en plus souvent sur des modèles de programmation et des frameworks de développement. Ces environnements définissent les bonnes pratiques, tant au niveau algorithmique qu'au niveau des techniques de programmation. Ils améliorent ainsi le cycle de développement des applications destinées aux processeurs MPSoC. L'utilisation de modèles de programmation ne garantit cependant pas que les codes pourront être exécutés sans erreur, en particulier dans le cas de la programmation dynamique, où ils offrent très peu d'aide a la vérification. Notre contribution pour résoudre ces challenges consiste en une nouvelle approche pour le débogage interactif, appelée Programming Model-Centric Debugging, ainsi qu'une implémentation d'un prototype de débogueur. Le débogage centré sur les modèles rapproche le débogage interactif du niveau d'abstraction fourni par les modèles de programmation, en capturant et interprétant les évènements générés pendant l'exécution de l'application. Nous avons appliqué cette approche sur trois modèles de programmation, basés sur les composants logiciels, le dataflow et la programmation d'accélérateur par kernels. Ensuite, nous détaillons comment nous avons développé notre prototype de débogueur, basé sur GDB, pour la programmation de la plate-forme STHORM de STMicroelectronics. Nous montrons aussi comment aborder le débogage basé sur les modèles avec quatre études de cas : un code de réalité augmentée construit à l'aide de composants, une implémentation dataflow d'un décodeur vidéo H.264 et deux applications de calcul scientifique
In this thesis, we propose to study interactive debugging of applications running on embedded systems Multi-Processor System on Chip (MPSoC). A literature study showed that nowadays, the design and development of these applications rely more and more on programming models and development frameworks. These environments gather established algorithmic and programming good-practices, and hence speed up the development process of applications running on MPSoC processors. However, sound programming models are not always sufficient to reach or approach error-free codes, especially in the case of dynamic programming, where they offer little to no help. Our contribution to lighten these challenges consists in a novel approach for interac- tive debugging, named Programming Model-Centric Debugging, as well as a prototype debugger implementation. Model-centric debugging raises interactive debugging to the level of programming models, by capturing and interpreting events generated during the application execution (e.g. through breakpointed API function calls). We illustrate how we applied this approach to three different programming models, software components, dataflow and kernel-based programming. Then, we detail how we developed a debugger prototype based on GDB, for STMicroelectronics's STHORM programming environment. STHORM development toolkit provides supportive environments for component, dataflow and kernel-based programming. We also demonstrate how to tackle software debugging with our debugger prototype through four case studies: an augmented reality feature tacker built with components, a dataflow implementation of the H.264 video decoding standard and two scientific HPC computing applications

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