Abstract: A system performs static program analysis with artifact reuse. The system identifies artifacts associated with the software program being analyzed. The system processes the identified artifacts for performing static program analysis and transmits either the artifacts or identifiers for the artifacts to a second processing device for performing program analysis. The second processing device receives the artifacts and uses the received identifiers to retrieve the artifacts from a networked storage system. The second device also retrieves stored summaries of previous program analysis from the networked storage system. The program analysis uses the retrieved artifacts to generate work units for static program analysis. The analysis is performed only for those work units that are determined to remain unchanged from previous static program analysis cycles.

Abstract: The present invention relates a mechanical differential actuator for interacting with a mechanical load. The mechanical differential actuator comprises first and second semi-active sub-actuators, a velocity source and first and second mechanical differentials having three interaction ports each. The first mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator. The second mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator. Finally, the second interaction ports of the first and second mechanical differentials are coupled together to form an output which is configured so as to be coupled to the load.

Abstract: The mechanical differential actuator according to the present invention comprises a mechanical differential having three mechanicals ports. A first transducer with a low impedance is coupled to a first port, a second transducer with a high impedance is coupled to a second port, and the mechanical load is coupled to the third port. The mechanical differential actuator enables controlling a force and a speed at a load coupled thereto through a known relation between the force and the speed. Moreover, the mechanical differential actuator presents a compact structure enabling the transfer of a large force relative to its volume.

Abstract: The present invention relates a mechanical differential actuator for interacting with a mechanical load. The mechanical differential actuator comprises first and second semi-active sub-actuators, a velocity source and first and second mechanical differentials having three interaction ports each. The first mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator. The second mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator. Finally, the second interaction ports of the first and second mechanical differentials are coupled together to form an output which is configured so as to be coupled to the load.

Abstract: The mechanical differential actuator according to the present invention comprises a mechanical differential having three mechanicals ports. A first transducer with a low impedance is coupled to a first port, a second transducer with a high impedance is coupled to a second port, and the mechanical load is coupled to the third port. The mechanical differential actuator enables controlling a force and a speed at a load coupled thereto through a known relation between the force and the speed. Moreover, the mechanical differential actuator presents a compact structure enabling the transfer of a large force relative to its volume.