In the design of robot skills, the focus generally lies on increasing the flexibility and reliability of the robot execution process; however, typical skill representations are not designed for ...analysing execution failures if they occur or for explicitly learning from failures. In this paper, we describe a learning-based hybrid representation for skill parameterisation called an execution model, which considers execution failures to be a natural part of the execution process. We then (i) demonstrate how execution contexts can be included in execution models, (ii) introduce a technique for generalising models between object categories by combining generalisation attempts performed by a robot with knowledge about object similarities represented in an ontology, and (iii) describe a procedure that uses an execution model for identifying a likely hypothesis of a parameterisation failure. The feasibility of the proposed methods is evaluated in multiple experiments performed with a physical robot in the context of handle grasping, object grasping, and object pulling. The experimental results suggest that execution models contribute towards avoiding execution failures, but also represent a first step towards more introspective robots that are able to analyse some of their execution failures in an explicit manner.
•Design of execution models, a hybrid representation for skill parameterisation that makes it possible to analyse execution failures and learn from them.•Description of a procedure for learning how to generalise execution models between object categories.•Development of algorithms for identifying a likely cause of a parameterisation failure and proposing a parameter correction.
To fill the reference model gaps in the Manufacturing Execution System (MES) platform software field, the definitions for platform software and reference model are put forward, and a reference model ...for MES platform conforming to Industrie 4.0 specification is proposed. The MES platform was characterized by the reference model from three dimensions of problem space, lifetime and infrastructure, in which, each dimension was represented by a view that consists of a number of viewpoints. In building the reference model, the viewpoints selection processes were discussed based on the current standards in each area corresponding to each dimension, and then a concept of reference model building block was defined. Furthermore, in order to explain how the reference model can be applied in use, some examples were performed for a representative application scenario in Industrie 4.0 and illustrating the reference model in combination with the application of specific technologies. A conclusion and expectation for the reference model research were summarized in the end of the paper.
The culmination of a civil case in court is marked by the crucial step of decision implementation, commonly known as execution. Execution can only proceed when the decision attains permanent legal ...force ('inkracht van gewijsde'). While the losing party may voluntarily execute the decision, failure to fulfill stipulated obligations empowers the winning party, the plaintiff, to seek forced execution. Despite the irrevocable legal status of a decision, as signified by its permanent legal force, Indonesian civil procedural law affords opportunities for litigants and third parties to reassess such decisions. This reassessment is facilitated through challenges or rebuttals, as outlined in Article 195 paragraph (6) HIR, Article 206 paragraph (6) Rbg, Article 378 RV, Article 279 RV, and is guided by the Ius Curia Novit principle, as affirmed in Article 10 of Law Number 48 of 2009 concerning Power Justice. Utilizing a normative juridical approach, this study relies on secondary data to explore the nuances of execution and post-decision challenges, drawing on primary legal materials, secondary legal materials, and tertiary legal materials.
Processing large scientific applications generates a huge amount of data, which makes running experiments in the cloud computing environment very expensive and energy-consuming. To find an optimal ...solution to the workflow scheduling problem, several approaches have been presented for scheduling workflow on cloud resources. However, more efficient approaches are needed to improve cloud service delivery. In this paper, an energy-efficient virtual machine mapping algorithm (EViMA) is proposed to improve resource management in the cloud computing environment to achieve effective scheduling that reduces cloud data center energy consumption, execution makespan, and execution cost. This ensures that the requirements of cloud users are met, and improves the quality of services offered by cloud providers. Our proposed mechanism considers the heterogeneity of scheduling from both cloud users’ and workflow applications’ perspectives. Through simulation experiments on real workflow datasets, the proposed EViMA can provide better solutions for both cloud users and cloud providers by reducing energy consumption, execution makespan, and execution cost better than the state-of-the-art.
We introduce a method of reversing the execution of imperative concurrent programs. Given an irreversible program, we describe the process of producing two versions. The first performs forward ...execution and saves information necessary for reversal. The second uses this saved information to simulate reversal. We propose using identifiers to capture statement execution order, and to use this to correctly undo data races via backtracking reversibility. We prove this reversibility to be correct, showing that the initial program state is restored and that all saved information is used (garbage-clean).
•Reversal of a concurrent imperative programming language that stores minimal data to undo irreversible steps•Identifiers assigned to statements as they execute that determines reverse control flow and ensures correct reversibility•Proof of correctness confirms the method of reversal restores program states and does not produce garbage•Reversibility illustrated on an implementation of a parallel sorting algorithm, with forward and reverse execution described
Seamless application execution is vital for the usability of various delay-sensitive mobile cloud applications. However, the resource-intensive migration process and intrinsic limitations of the ...wireless medium impede the realization of seamless execution in mobile cloud computing (MCC) environment. This work is the first comprehensive survey that studies the state-of-the-art cloud-based mobile application execution frameworks (CMAEFs) in perspective of seamless application execution in MCC and investigates the frameworks suitability for the seamless execution. The seamless execution enabling approaches for the CMAEFs are identified and classified based on the implementation locations. We also investigate the seamless application execution enabling approaches to identify advantages and disadvantages of employing such approaches for attaining the seamless application execution in MCC. The existing frameworks are compared based on the significant parameters derived from the taxonomy of the seamless application execution enabling approaches. The principles for enabling the seamless application execution within the MCC are also highlighted. Finally, open research challenges in realizing the seamless application execution are discussed.
In today's volatile, uncertain, and complex business environments, manufacturing companies must not only adapt to market demands but also minimize the time between problem occurrence and resolution. ...The implementation of lean manufacturing systems has been crucial in this regard. However, traditional approaches have shown notable inefficiencies that can be effectively addressed through digitalization. By embracing digital solutions, manufacturing companies can ensure efficient continuous improvement, driving performance to higher levels. This study aims to find a digital solution for a specific company that faces daily challenges associated with low visibility into production. An investigation revealed that the Lean tools used by the company were outdated, directly affecting the generated information and consequently, decision-making. The integration of a Manufacturing Execution System into the factory's dynamics was the solution found. In this context, a step-by-step methodology is proposed to guide the implementation. As a result, a prototype of the system was designed. The validation of the system by end-users demonstrates the success of the proposed methodology.
Sharding is a promising solution to enhance the scalability of blockchain. However, previous sharding systems adopt the lock-based cross-shard protocol to exclusively handle one-shot cross-shard ...transactions, leading to low-efficiency executions and unavailable calls when handling complex cross-shard contracts that introduce multi-shot cross-shard transactions to invoke multiple contracts managed by different shards. In this paper, we aim to enable efficient execution of arbitrarily complex cross-shard contracts in blockchain sharding systems. First, we perform a calling-flow analysis on Ethereum contracts with more than 180 million real-world transactions and find that about <inline-formula><tex-math notation="LaTeX">30\%</tex-math> <mml:math><mml:mn>30</mml:mn><mml:mi mathvariant="normal">%</mml:mi></mml:math><inline-graphic xlink:href="zhang-ieq1-3365929.gif"/> </inline-formula> transactions invoke complex contracts. Then, motivated by the properties of these complex contracts, we propose an off-chain execution model, called ShardCon, to achieve efficient executions for complex cross-shard contracts by decoupling the contract execution from the cross-shard consensus. Next, we introduce a cross-shard contract execution engine and a contract-driven deployment rule to the overheads introduced by off-chain executions. Moreover, to adapt to the multi-chain property of a sharding system, we introduce an off-chain state atomic commit protocol. Finally, we implement a prototype and evaluate it with concrete cross-shard contracts, showing that ShardCon can achieve more than 10x increase in throughput and 2x decrease in confirmation latency than the state-of-the-art sharding systems.
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