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Detecting Inconsistencies of Physical Units in Code

My Ph.D. co-advisee, John-Paul Ore, is working in the development of techniques to detect faults due to the mismanipulation of physical units in code , a particularly difficult and common challenge when implementing robotic systems (recent ISSTA paper). We are also developing tools to support practitioners in the detection of such faults (phriky-units tool). We have found many interesting faults and fault patterns already (see our coming IROS 2017 paper for more details on this), here are a few:

example_very_obvious_wrong

6_pr2_base_controller_011_32cbddad1d9edc40d03ff315772f55b00da46941

example_cross_product

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