Browsing by Subject "Dynamic behaviors"

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    An approach for detecting inconsistencies between behavioral models of the software architecture and the code
    (2012-07) Çıracı, Selim; Sözer, Hasan; Tekinerdoğan, Bedir
    In practice, inconsistencies between architectural documentation and the code might arise due to improper implementation of the architecture or the separate, uncontrolled evolution of the code. Several approaches have been proposed to detect inconsistencies between the architecture and the code but these tend to be limited for capturing inconsistencies that might occur at runtime. We present a runtime verification approach for detecting inconsistencies between the dynamic behavior of the documented architecture and the actual runtime behavior of the system. The approach is supported by a set of tools that implement the architecture and the code patterns in Prolog, and automatically generate runtime monitors for detecting inconsistencies. We illustrate the approach and the toolset for a Crisis Management System case study. © 2012 IEEE.
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    Quadrupedal bounding with an actuated spinal joint
    (IEEE, 2011) Çulha, Utku; Saranlı, Uluç
    Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most existing legged robots capable of dynamic locomotion incorporate only a single rigid trunk with actuation limited to legs and associated joints. In this paper, we investigate how quadrupedal bounding can be achieved in the presence of an actuated spinal joint and characterize associated performance improvements compared to bounding with a rigid robot body. In the context of both a new controller structure for bounding with a body joint and existing bounding controllers for the rigid trunk, we use optimization methods to identify the highest performance gait parameters and establish that the spinal joint allows increased forward speeds and hopping heights. © 2011 IEEE.