Designing Weakly Terminating ROS Systems

Bera, Debjyoti; Hee, K.M. van; Werf, Jan Martijn E. M. van der

doi:10.1007/978-3-642-31131-4_18

Cited by 6 publications

(5 citation statements)

References 8 publications

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“…As future work we see two interesting extensions of our method (1) Extensions to the concept of compound commands to capture more frequently occurring domain specific patterns such as cancelations, etc. [7,9,8], and (2) Extensions to infer behavior of components. In typical component-based systems, a component has a set of provided interfaces (to provide services) and a set of required interfaces (to consume services).…”

Section: Discussionmentioning

confidence: 99%

Reverse engineering models of software interfaces

Bera¹,

Schuts

Hooman³

et al. 2021

COMSIS J

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Cyber-physical systems consist of many hardware and software components. Over the lifetime of these systems their components are often replaced or updated. To avoid integration problems, formal specifications of component interface behavior are crucial. Such a formal specification captures not only the set of provided operations but also the order of using them and the constraints on their timing behavior. Usually the order of operations are expressed in terms of a state machine. For new components such a formal specification can be derived from requirements. However, for legacy components such interface descriptions are usually not available. So they have to be reverse engineered from existing event logs and source code. This costs a lot of time and does not scale very well. To improve the efficiency of this process, we present a passive learning technique for interface models inspired by process mining techniques. The approach is based on representing causal relations between events present in an event log and their timing information as a timed-causal graph. The graph is further processed and eventually transformed into a state machine and a set of timing constraints. Compared to other approaches in literature which focus on the general problem of inferring state-based behavior, we exploit patterns of client-server interactions in event logs.

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Section: Discussionmentioning

confidence: 99%

Reverse engineering models of software interfaces

Bera¹,

Schuts

Hooman³

et al. 2021

COMSIS J

Self Cite

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“…By using a combination of model checking and theorem proving, she verified the XML-RPC protocol code in the robot system, including 205 functions of 63 program files. Debjyoti Bera used a formal verification method to study the weak termination of ROS systems [27].…”

Section: Related Workmentioning

confidence: 99%

Toward the Trustworthiness of Industrial Robotics Using Differential Fuzz Testing

Wang

Song

2023

IEEE Trans. Ind. Inf.

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“…To date, robots developed for elderly and home assistants have been wheeled robots with upper bodies, dexterous hand(s), and a screen for interaction, although several robots have been developed to have more human-like appearance. The robots are usually built so they can provide physical assistance, including retrieving and delivering objects (Bera, van Hee, & van der Werf, 2012) or even lifting people (Mukai et al, 2011). For both safety and ethical reasons, tasks such as lifting a person require a human operator.…”

Section: Mental Potential Development (Seementioning

confidence: 99%

“…This goal raises a range of novel research problems, such as controlling robots to identify and grasp the right object in a particular home. Bera et al (2012) demonstrated shared control of a teleoperated robot named ROSE, whereby the robot was able to perform tasks autonomously, but the human operator was always able to take over control from a cockpit. The authors address typical problems for distributed systems that communicate asynchronously (i.e., by message passing) and propose a systematic design approach to ensure certain behavioral properties.…”

Section: Mental Potential Development (Seementioning

confidence: 99%

Teleoperation and Beyond for Assistive Humanoid Robots

Goodrich¹,

Crandall²,

Barakova³

2013

Reviews of Human Factors and Ergonomics

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In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clinical therapies. Since there are very few examples of the remote operation of a full humanoid, the review emphasizes technologies that are potentially relevant to teleoperation of humanoids. Teleoperation of humanoid robots faces many of the same practical challenges associated with (a) traditional teleoperation, including latency and telepresence, and (b) teleoperating manipulators and other robots with high degrees of freedom. Teleoperation systems for humanoid robots must also address unique challenges triggered by strong emotional and social responses to humanoids-responses of both the operator and any humans who may interact with the humanoid. These challenges trigger new opportunities for redefining teleoperation to include scripting, programming by demonstration, speech production, and Wizard of Oz interaction. The challenges also provide opportunities to specialize existing modes of interaction and unique opportunities to develop humanoid-specific forms of teleoperation, such as controlling humanoids via exoskeleton-based or inertial sensors. We include in this review a survey of enabling technologies, a taxonomy of practical uses, and a list of emerging themes and approaches to teleoperating humanoid robots.

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Designing Weakly Terminating ROS Systems

Cited by 6 publications

References 8 publications

Reverse engineering models of software interfaces

Reverse engineering models of software interfaces

Toward the Trustworthiness of Industrial Robotics Using Differential Fuzz Testing

Teleoperation and Beyond for Assistive Humanoid Robots

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