Longest segment of balanced parentheses: an exercise in program inversion in a segment problem

Given a string of parentheses, the task is to find the longest consecutive segment that is balanced, in linear time. We find this problem interesting because it involves a combination of techniques: the usual approach for solving segment problems and a theorem for constructing the inverse of a function—through which we derive an instance of shift-reduce parsing.

Modelling reversible execution of robotic assembly

SUMMARYProgramming robotic assembly for industrial small-batch production is challenging; hence, it is vital to increase robustness and reduce development effort in order to achieve flexible robotic automation. A human who has made an assembly error will often simply undo the process until the error is undone and then restart the assembly. Conceptually, robots could do the same. This paper introduces a programming model that enables robot assembly programs to be executed in reverse. We investigate the challenges in running robot programs backwards and present a classification of reversibility characteristics. We demonstrate how temporarily switching the direction of program execution can be an efficient error recovery mechanism. Moreover, we demonstrate additional benefits arising from supporting reversibility in an assembly language, such as increased code reuse and automatically derived disassembly sequences. As a default approach to reversibility, we use program inversion and statement-level inversion of commands, but with a novel override option providing alternative sequences for asymmetric reverse actions. To efficiently program for this model, this paper introduces a new domain-specific language, SCP-RASQ (Simple C++ Reversible Assembly SeQuences). In initial experiments, where 200 consecutive assemblies of two industrial cases were performed, 18 of 22 errors were corrected automatically using only the trial-and-error capabilities that come from reverse execution.

Manipulating accumulative functions by swapping call-time and return-time computations

Functional languages are suitable for transformational developments of programs. However, accumulative functions, or in particular tail-recursive functions, are known to be less suitable for manipulation. In this paper, we propose a program transformation named “IO swapping” that swaps call-time and return-time computations. It moves computations in accumulative parameters to results and thereby enables interesting transformations. We demonstrate effectiveness of IO swapping by several applications: deforestation, higher order removal, program inversion, and manipulation of circular programs.