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Dynamic dead variable analysis (DDVA) extends traditional static dead variable analysis (SDVA) in the context of model checking through the use of run-time information. The analysis is run multiple times during the course of model checking to create a more precise set of dead variables. The DDVA is evaluated based on the amount of memory used to complete model checking relative to SDVA while considering the extra overhead required to implement DDVA. On several models with a complex control flow graph, DDVA reduces the amount of memory needed by 38-88MB compared to SDVA with a cost of 36 bytes of memory verhead. On several models with loops, DDVA achieved no additional reduction compared to SDVA while requiring no more memory than SDVA.

Haptic interfaces are robotic force-feedback devices that give the user a sense of touch as they interact with virtual or remote environments. These interfaces act as input devices, mapping the 3-dimensional (3D) motions of the user's hand into 3D motions in a slave system or simulated virtual world. A major challenge in haptic interfaces is ensuring that the user's experience is a realistic depiction of the simulated environment. This requires the interface's design to be such that it does not hinder the user's ability to feel the forces present in the environment. This "transparency" is achieved by minimizing the device's physical properties (e.g., weight, inertia, friction). The primary objective of the work is to utilize compliant mechanisms as a means to improve transparency of a haptic interface. This thesis presents work toward the design of a fully compliant mechanism that can be utilized in haptic interfaces as a means to reduce parasitic forces. The approach taken in this work is to design a series of mechanisms that when combined act as a statically balanced compliant joint (SBCJ). Simulated and experimental results show that the methods presented here result in a joint that displays a significant decrease in return-to-home behavior typically observed in compliant mechanisms. This reduction in the torque needed to displace the joint and the absence of friction suggest that the joint design is conducive to the methods previously proposed for increasing transparency in haptic interfaces.

Robotics and space applications represent areas where compliant mechanisms can continue to make a significant impact by reducing costs and weight while improving performance. Because of the nature of these applications, a common need is for bearing replacement mechanisms, or mechanisms that perform the function of a bearing without the complexity and failure modes associated with bearings. Static balancing is a design strategy that attempts to reduce the actuation effort of a mechanism, and has been applied to compliant mechanisms in some applications. Monolithic construction, especially by means of 3D printing technology, is a strategy whereby the mechanism links and joints are built as a single "chunk" of material. This eliminates assembly and failure modes associated with wear and friction in traditional joints. In this work we examine these design strategies in the context of robotics and space applications. Matlab and Ansys batch files can be found in Appendix A. A fully compliant zero-torque, statically balanced mechanism is described that can undergo greater than 100 of motion. Because compliant mechanisms achieve their motion from the deflection of their constituent members, there is some strain energy associated with actuated positions. By introducing an appropriate pre-load, strain energy can be held constant. This can reduce or nearly eliminate the input force required from the actuating device. This paper describes the statically balanced rotary joint concept, and demonstrates its optimization, testing, and implementation for a haptic pantograph mechanism. The statically balanced properties of the constituent joints result in a mechanism with two balanced degrees of freedom. Matlab and Ansys batch files can be found in Appendix B. The conception, modeling, and development of a fully compliant two-degree-of-freedom pointing mechanism for application in spacecraft thruster, antenna, or solar array systems is described. The design objectives and the advantages of a compliant solution are briefly discussed. A single design concept is selected for final development from a field of generated concepts. Analytical and numerical models are accompanied by prototype testing and measurements in several iterations. A final design is described in detail, a fully compliant prototype is fabricated in titanium, and its performance is measured.

[pt] Linguagens dinâmicas provêm flexibilidade e simplicidade em troca de menos informação em tempo de compilação, o que resulta em perda de desempenho. Atacando este problema no contexto de Lua, a linguagem de programação Pallene surge como uma alternativa. Neste trabalho, examinamos o atual estado de Pallene, procurando por padrões responsáveis por perdas de desempenho. Baseado nestes padrões, propusemos e implementamos uma série de otimizações usando técnicas de análise estática. / [en] Dynamic languages provide flexibility and simplicity in exchange for less compile-time information, leading to slower run times. Addressing this problem in the Lua context, the Pallene programming language appears as an alternative. In this work, we studied the current state of Pallene, searching for patterns that caused performance losses. Based on these patterns, we proposed and implemented several optimizations with the use of static analysis techniques.

This master thesis studied the possibilities of implementing new handbook methodologies for sizing of corner and bathtub attachments with respect to static strength.  Parametric studies of corner and bathtub attachments were performed in order to examine the effect of boundary conditions and vital dimensions with respect to static strength. The parametric studies were performed by solving FE-models of attachments with different dimensions. Variables such as flange thickness, end-plate thickness, end-plate length and total attachment width were varied in order to identify geometric trends for prediction of cross-sectional loads.  The FE-models consisted of a bolt, washer and attachment assembly. The bolt was subjected to pre-tension and contact conditions were applied in between each part. The parametric study examined the cross-sectional loads of critical cross sections of the end-plate, bolt, flanges and back.  The parametric study of the bathtub attachment resulted in verification of critical failure modes from earlier handbook methodology, as well as a foundation for a new handbook methodology for sizing with respect to static strength. The parametric study of the corner attachment resulted in an identification of critical failure modes. The non-symmetric configuration of a corner attachment was found to result in larger load distribution in the bolt shank cross section.

At every joint there is a redundant set of muscle activated during movement or loading of the system. Optimization techniques are needed to evaluate individual forces in every muscle. The objective in this thesis was to use static optimization techniques to calculate individual muscle forces in the human extremities. A cost function based on a performance criterion of the involved muscular forces was set to be minimized together with constraints on the muscle forces, restraining negative and excessive values. Load-sharing, load capacity and optimal forces of a system can be evaluated, based on a description of the muscle architectural properties, such as moment arm, physiological cross-sectional area, and peak isometric force. The upper and lower extremities were modelled in two separate studies. The upper extremity was modelled as a two link-segment with fixed configurations. Load-sharing properties in a simplified model were analyzed. In a more complex model of the elbow and shoulder joint system of muscular forces, the overall total loading capacity was evaluated. A lower limb model was then used and optimal forces during gait were evaluated. Gait analysis was performed with simultaneous electromyography (EMG). Gait kinematics and kinetics were used in the static optimization to evaluate of optimal individual muscle forces. EMG recordings measure muscle activation. The raw EMG data was processed and a linear envelope of the signal was used to view the activation profile. A method described as the EMG-to-force method which scales and transforms subject specific EMG data is used to compare the evaluated optimal forces. Reasonably good correlation between calculated muscle forces from static optimization and EMG profiles was shown. Also, the possibility to view load-sharing properties of a musculoskeletal system demonstrate a promising complement to traditional motion analysis techniques. However, validation of the accurate muscular forces are needed but not possible. Future work is focused on adding more accurate settings in the muscle architectural properties such as moment arms and physiological cross-sectional areas. Further perspectives with this mathematic modelling technique include analyzing pathological movement, such as cerebral palsy and rheumatoid arthritis where muscular weakness, pain and joint deformities are common. In these, better understanding of muscular action and function are needed for better treatment. / QC 20101116

This thesis presents an algorithm for solving a subset of static analysis data flow problems known as Interprocedural Finite Distribute Subset problems. The algorithm, called IFDS-RA, is an implementation of the IFDS algorithm which is an algorithm for solving such problems. IFDS-RA is implemented using Reactive Async which is a deterministic, concurrent, programming model. The scalability of IFDS-RA is compared to the state-of-the-art Heros implementation of the IFDS algorithm and evaluated using three different taint analyses on one to eight processing cores. The results show that IFDS-RA performs better than Heros when using multiple cores. Additionally, the results show that Heros does not take advantage of multiple cores even if there are multiple cores available on the system. / Detta examensarbete presenterar en algoritm för att lösa en klass av problem i statisk analys känd som Interprocedural Finite Distribute Subset problem.  Algoritmen, IFDS-RA, är en implementation av IFDS algoritmen som är utvecklad för att lösa denna typ av problem. IFDS-RA använder sig av Reactive Async som är en deterministisk programmeringsmodell för samtida exekvering av program.  Prestendan evalueras genom att mäta exekveringstid för tre stycken taint analyser med en till åtta processorkärnor och jämförs med state-of-the-art implementationen Heros. Resultaten visar att IFDS-RA presterar bättre än Heros när de använder sig av flera processorkärnor samt att Heros inte använder sig av flera processorkärnor även om de finns tillgängliga.