In real-time and embedded systems, it is often necessary to place conservative upper bounds on the memory required by a program or subprogram. This can be difficult and error-prone process. In this thesis, I have designed and implemented two (related) compile-time analyses to addresses this problem. The first analysis computes a symbolic upper bound on the maximum number of allocations of each ...

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Event/Marked Graphs (EG) form a strict subset of Petri Nets. They are fundamental models in Scheduling Theory, mostly because of their absence of alternative behaviors (or conflict-freeness). It was established in the past that, under broad structural conditions, behavior of Timed Event Graphs (TEG) becomes utterly regular (technically speaking: “ultimately k-periodic”). More recently it has be...

This paper deals with the problem of planning and controlling the trajectories of the legs of a mobile robot moving through statically stable conngurations. Legs are supposed to possess signiicant weight compared to the chassis, and a degree of redundancy that can be used to maximize the robustness of equilibrium. We use optimal control techniques for planning joint trajectories that comply wit...

The current approach to reducing impact forces during component placement in micro-assembly is to couple the gripper with 5 Degrees Of Freedom (DOF) to the drive unit of the placement device, wherein the mass of the gripper has been reduced maximally. At the end of the placement motion the drive unit will move relatively to the gripper, as linear as possible given the limitations of the constru...