Abstract

Abstract
Purpose - The purpose of this paper is to report a collection of developments that enable users to program industrial robots using speech, several device interfaces, force control and code generation techniques. Design/methodology/approach - The reported system is explained in detail and a few practical examples are given that demonstrate its usefulness for small to medium-sized enterprises (SMEs), where robots and humans need to cooperate to achieve a common goal (coworker scenario). The paper also explores the user interface software adapted for use by non-experts. Findings - The programming-by-demonstration (PbD) system presented proved to be very efficient with the task of programming entirely new features to an industrial robotic system. The system uses a speech interface for user command, and a force-controlled guiding system for teaching the robot the details about the task being programmed. With only a small set of implemented robot instructions it was fairly easy to teach the robot system a new task, generate the robot code and execute it immediately. Research limitations/implications - Although a particular robot controller was used, the system is in many aspects general, since the options adopted are mainly based on standards. It can obviously be implemented with other robot controllers without significant changes. In fact, most of the features were ported to run with Motoman robots with success. Practical implications - It is important to stress that the robot program built in this section was obtained without writing a single line of code, but instead just by moving the robot to the desired positions and adding the required robot instructions using speech. Even the upload task of the obtained module to the robot controller is commanded by speech, along with its execution/termination. Consequently, teaching the robotic system a new feature is accessible for any type of user with only minor training. Originality/value - This type of PbD systems will constitute a major advantage for SMEs, since most of those companies do not have the necessary engineering resources to make changes or add new functionalities to their robotic manufacturing systems. Even at the system integrator level these systems are very useful for avoiding the need for specific knowledge about all the controllers with which they work: complexity is hidden beyond the speech interfaces and portable interface devices, with specific and user-friendly APIs making the connection between the programmer and the system.

Abstract
This paper presents techniques developed to check program equivalences in the context of cryptographic software development, where specifications are typically reference implementations. The techniques allow for the integration of interactive proof techniques (required given the difficulty and generality of the results sought) in a verification infrastructure that is capable of discharging many verification conditions automatically. To this end, the difficult results in the verification process (to be proved interactively) are isolated as a set of lemmas. The fundamental notion of natural invariant is used to link the specification level and the interactive proof construction process.

Abstract

Abstract

Abstract
Climatic change emphasize the importance of biodiversity maintenance, Suggesting that germplasm adapted to organic, low input, or conventional conditions is needed to face future demands. This Study presents: I - The two steps genesis of the synthetic maize population 'Fandango', A) 'NUTICA' creation: in 1975, Miguel Mota and Silas Pego, initiated a new type of polycross method involving 77 yellow elite inbred lines (dent and flint; 20% Portuguese and 80% North American germplasm) from the NUMI programme (NUcleo de melhoramento de Milho, Braga, Portugal). These inbreds were intermated in natural isolation and progenies submitted to intensive selection for both parents during continued cycles; B) From 'NUTICA' to 'Fandango': Tandango' was composed of all the crosses that resulted from a North Carolina Design I matting design (1 male crossed with 5 females) applied to 'NUTICA'. II - The diversity evolution of 'Fandango' under a Participatory Breeding project at the Portuguese Sousa Valley region (VASO) initiated in 1985 by Pego, with CIMMYT support. Morphological, fasciation expression, and yield trials were conducted in Portugal (3 locations, 3 years) and in the USA (4 locations, I year) using seeds obtained from five to seven cycles of mass selection (MS). The selection across cycles wits clone by the breeder (until cycle 5) and farmer (before cycle II in present). ANOVA and regression analysis on the rate of direct response to selection were performed when the assumption of normality was positively confirmed. Otherwise the non parametric Multivariate Adaptive Regression Splines (MARS) was performed. Response to mass selection in lowa showed significant decrease in yield, while in Portugal a significant increase for time of silking, plant and ear height, ear diameters 2, 37 4, kernel number, cot) diameters, and rachis was observed. At this location also a significant decrease was observed for thousand kernel weight and ear length. These results showed that mass selection were not effective for significant yield increase, except when considered Lousada with breeder selection (3.09% of gain per cycle per year). Some non-para metric methods (MARS, decision trees and random forests) were used to get insights on the causes that explain yield in Fandango. Kernel weight and ear weight were the most important traits, although row numbers, number of kernels per row, ear length, and ear diameter were also of some importance influencing 'Fandango' yield.