Verification assistance device and computer-readable recording medium

Abstract

A verification assistance device according to the present disclosure comprises: an acquisition unit that acquires setting information for a control device that controls an industrial machine, a test operation, and an expected motion of the industrial machine; a test execution unit that performs test motions related to the control device and the industrial machine on the basis of the test operation, and acquires a test result; a determination unit that determines whether the test result matches the expected motion; and a prompt creation unit that, when the determination unit has determined that the test result does not match the expected motion, creates a prompt for updating the setting information on the basis of the expected motion and the test result; a transmission unit that transmits the prompt to an interactive response device; a reception unit that receives update information for the setting information from the interactive response device; an update unit that updates the setting information on the basis of the update information; and an output unit that outputs the setting information when determination of the matching with the expected motion has been made by the determination unit. The test operation is repeated by using the updated setting information until the determination unit determines that the test result matches the expected motion.

Description

Verification support device and computer-readable recording medium

[0001] The present disclosure relates to a verification support device and a computer-readable recording medium.

[0002] To start up a control device that controls industrial machinery such as machine tools and robots, it is necessary to create configuration information for the control device. The configuration information for the control device includes the control device's setting parameters, offset values, ladder programs, macro programs, etc. To generate such configuration information, it is possible to utilize a generation AI device (see, for example, Patent Document 1). To utilize the generation AI device, it is necessary to create a predetermined prompt and input it into the generation AI device.

[0003] Patent No. 7353695

[0004] There is an issue that hallucination may occur when the generating AI device responds. Hallucination occurs when the generating AI device generates information that is not based on facts. This makes it difficult to trust and use the configuration information generated by the generating AI device as is. There are risks in using configuration information generated by the generating AI device after a single attempt. If problematic configuration information is output, the configuration information must be manually corrected, which requires labor. In the field, there is a need for support technology that reduces the burden of verifying the configuration information generated by the generating AI device.

[0005] A verification support device according to the present disclosure operates models of industrial machinery and control devices to which configuration information has been applied based on test operations, and compares the results of the operation (test results) with predetermined expected behavior. If there is a discrepancy between the test results and the expected behavior, the verification support device creates a prompt to update the configuration information and requests an interactive response device equipped with a generative AI such as a large-scale language model (LLM) to generate configuration information that resolves the discrepancy between the test results and the expected behavior based on the created prompt. The verification support device then operates the models of industrial machinery and control devices to which the configuration information received from the interactive response device has been applied based on test operations again. The above-mentioned problem is solved by repeating these operations until the test results and the expected behavior match.

[0006] and an output unit that outputs the setting information when the determination unit determines that the setting information matches the expected operation. The verification support device according to one aspect of the present disclosure includes: an acquisition unit that acquires setting information of a control device that controls an industrial machine, test operations in the control device, and expected operation of the industrial machine that is assumed from the test operations; a test execution unit that performs test operations related to the control device and the industrial machine based on the test operations and acquires test results related to the test operations; a determination unit that determines whether the test results match the expected operation; a prompt creation unit that creates a prompt for updating the setting information based on the expected operation and the test result when the determination unit determines that the test results do not match the expected operation; a transmission unit that transmits the prompt to an interactive response device; a reception unit that receives updated information of the setting information based on the prompt from the interactive response device; an update unit that updates the setting information based on the updated information; and an output unit that outputs the setting information when the determination unit determines that the setting information matches the expected operation. The verification support device according to one aspect of the present disclosure includes: an acquisition unit that acquires setting information of a control device that controls an industrial machine, test operations in the control device, and expected operation of the industrial machine that is assumed from the test operations; a test execution unit that performs test operations related to the control device and the industrial machine based on the test operations and acquires test results related to the test operations; a determination unit that determines whether the test results match the expected operation;

[0007] 1 is a schematic hardware configuration diagram of a verification support device according to an embodiment of the present disclosure; FIG. 2 is a block diagram showing schematic functions of a verification support device according to a first embodiment; FIG. 3 is a schematic diagram showing examples of a plurality of templates stored in a template storage unit; FIG. 4 is a schematic diagram showing examples of templates; and FIG. 5 is a schematic diagram showing an example of a response from an interactive response device.

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, components having the same or similar functions will be denoted by the same reference numerals. Duplicate descriptions of those components may be omitted.

[0009] In this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0010] [First Embodiment] Fig. 1 is a schematic hardware configuration diagram showing the main parts of a verification support device according to a first embodiment of the present disclosure. The verification support device 1 according to this embodiment can be implemented, for example, on a control device that controls industrial machinery. The verification support device 1 can also be implemented on a computer such as a personal computer attached to the control device, or a personal computer, cell computer, fog computer 6, or cloud server 7 connected to the control device via a wired or wireless network. In this embodiment, an example is shown in which the verification support device 1 is implemented on a computer connected to the control device that controls industrial machinery via a network.

[0011] The CPU 11 included in the verification support device 1 according to this embodiment is a processor that controls the entire verification support device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire verification support device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data acquired from outside, and the like.

[0012] The nonvolatile memory 14 is composed of, for example, a battery-backed memory or an SSD (Solid State Drive), not shown, and retains its stored state even when the verification support device 1 is powered off. The nonvolatile memory 14 stores various programs and data read from an external device 72 via the interface 15, programs and data input via the input device 71, and various programs and data acquired from the control device 3 that controls the industrial machine 4 or other devices via the network 5. The various programs and data stored in the nonvolatile memory 14 may be expanded into the RAM 13 when executed / used. In addition, various system programs, such as known analysis programs, are written in the ROM 12 in advance.

[0013] The interface 15 is an interface for connecting the CPU 11 of the verification support device 1 to an external device 72 such as a USB device. For example, system programs, setting data, etc. are read from the external device 72. In addition, various programs, setting data, etc. created and edited within the verification support device 1 can be stored in external storage means via the external device 72.

[0014] The interface 20 is an interface for connecting the CPU 11 of the verification support device 1 to a wired or wireless network 5. The network 5 may communicate using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. The network 5 is connected to at least one control device 3 that controls an industrial machine 4 to be verified, an interactive response device 2 that responds to inquiries from users, a fog computer 6, a cloud server 7, etc., and exchanges data with the verification support device 1.

[0015] The display device 70 displays various data loaded into the memory, data obtained as a result of executing various programs, etc., output via the interface 17. Furthermore, the input device 71, which is composed of a keyboard, pointing device, voice input device, etc., passes instructions, data, etc. based on operations by an operator to the CPU 11 via the interface 18.

[0016] The interactive response device 2 is configured as a device that returns a response sentence to a predetermined sentence. The interactive response device 2 includes a large-scale language model (LLM) that has learned a response sentence to the predetermined sentence. This model can be a known model such as a Transformer model. The large-scale language model learns, for each text, the probability that the given sentence will be a response to the given sentence when the given sentence is input. It also learns the probability that each of the given texts will be followed by other texts. By repeating this learning process, the large-scale language model outputs a text string with a high probability as a response to the given sentence when the given sentence is input. Depending on how the learning process learns documents that will be responses to the given sentence, the interactive response device 2 can be used for purposes such as dialogue, question and answer session, text summarization, text editing, text translation, text conversion, text modification, text optimization, text interpretation, text detection, recognition, prediction, judgment, code generation, image generation, and comprehensive judgment.

[0017] The verification support device 1 according to the present disclosure is assumed to be connected to an interactive response device 2 via a network 5. This interactive response device 2 has a model that has been trained based on various information publicly available on the Internet, for example. If necessary, additional training (fine tuning) may be performed in advance using various documents including manuals for the control device 3 and the industrial machine 4, and reports recording problems that have occurred in the control device 3 and the industrial machine 4 in the past, the causes of those problems, and solutions to those problems. By narrowing down the information used for training, it is possible to prepare an interactive response device 2 that returns responses to inquiries with a certain degree of accuracy.

[0018] 2 is a schematic block diagram illustrating functions of the verification support apparatus 1 according to the first embodiment of the present disclosure. Each function of the verification support apparatus 1 according to this embodiment is realized by the CPU 11 of the verification support apparatus 1 shown in FIG. 1 executing a system program and controlling the operation of each unit of the verification support apparatus 1.

[0019] The verification support device 1 of this embodiment includes an acquisition unit 100, a test execution unit 110, a determination unit 120, a prompt creation unit 130, a transmission unit 140, a reception unit 150, an update unit 160, and an output unit 170. The RAM 13 to the non-volatile memory 14 of the verification support device 1 also include a template storage unit 200, which is an area in which prompt templates are stored in advance.

[0020] The acquisition unit 100 acquires setting information of a control device 3 that controls an industrial machine 4, a test operation in the control device 3, and an expected operation of the industrial machine 4 that is assumed from the test operation.

[0021] The setting information is information related to the control of the industrial machine 4 by the control device 3, and examples thereof include numerical control parameters, numerical control programs, offset information related to the operation of the industrial machine 4, and PLC programs. The setting information may be, for example, information set in the control device 3 and the industrial machine 4 in an initial state. Furthermore, the setting information may be, for example, setting information created by an operator for the control device 3 and the industrial machine 4, or setting information created for another control device and industrial machine. Furthermore, setting information created in advance by the interactive response device 2 may be acquired.

[0022] The test operation is a set of commands for causing the industrial machine 4 to perform a test operation. The test operation may be, for example, a numerical control program executed by the control device 3 when controlling the industrial machine 4. The operator may input the test operation by specifying a numerical control program related to the test operation that has been created in advance.

[0023] The expected action is information indicating, for example, the action expected of the industrial machine 4 by performing control based on the test operation. The expected action may specify the state of the industrial machine 4 during or at the end of the test operation, such as the end of automatic operation without an alarm. The expected action may also specify a target value or target range of a statistical value (e.g., maximum, minimum, or average values ​​of speed, load, temperature, error, etc.) calculated based on sensor values ​​and feedback values ​​detected in each part of the industrial machine 4. These statistical values ​​may be specified for each command or command group included in the test operation. For example, information such as "the average value of the position deviation of the X coordinate during the axis movement from sequence number N120 to N140 is less than a [mm]," "the torque load increases to c [N·m] or more at the X coordinate position b [mm] during the execution of sequence number N200," or "signal F, which was 1 before the test operation, changes to 0 after the test operation" may be the expected action. The expected action may specify the target value or target range of the statistical value and the state of the industrial machine 4 for each command included in the test operation.

[0024] The acquisition unit 100 may display a screen for inputting setting information, test operations, and expected operations on the display device 70, and acquire this information based on the operation of the operator. Alternatively, the acquisition unit 100 may acquire this information from the control device 3 that controls the industrial machine 4, or from an external device 72. The acquisition unit 100 outputs the acquired setting information, test operations, and expected operations to the test execution unit 110.

[0025] The test execution unit 110 sets the setting information acquired by the acquisition unit in the control device 3 and the industrial machine 4, and operates the control device 3 based on the test operation acquired by the acquisition unit 100. Then, the test execution unit 110 acquires the operating status of the industrial machine 4 controlled by the control device 3 as a test result. The test execution unit 110 may, for example, instruct the control device 3 to perform settings based on the setting information and to execute a numerical control program as a test operation. Furthermore, the test execution unit 110 may execute a simulation process using a model that virtually simulates the control device 3 and the industrial machine 4 based on the setting information and the test operation. The test execution unit 110 acquires data of each part of the industrial machine 4 from the control device 3 while the industrial machine 4 is performing a test operation. Then, it acquires a test result based on the acquired data. The test execution unit 110 outputs the setting information input from the acquisition unit 100, the test operation input from the acquisition unit 100, the acquired test result, and the expected operation input from the acquisition unit 100 to the determination unit 120.

[0026] The determination unit 120 compares the test results acquired by the test execution unit 110 with the expected behavior. Then, it determines whether the test results match the expected behavior. The determination unit 120 may also determine whether the test results match the expected behavior completely. If the determination unit 120 determines that the test results match the expected behavior completely, it outputs the current setting information to the output unit 170. If the determination unit 120 determines that the test results do not match the expected behavior, it outputs the current test operation, expected behavior, and test result to the prompt creation unit 130.

[0027] When the determination unit 120 determines that the test result does not match the expected behavior, the prompt creation unit 130 creates a prompt to request the interactive response device 2 to update the setting information related to the control device 3 and the industrial machine 4. The prompt creation unit 130 uses the expected behavior and the test result when creating the prompt. The prompt creation unit 130 may assign prompt identification information to the generated prompt that allows the generated prompt to be uniquely identified. The prompt creation unit 130 may create the prompt by, for example, applying the expected behavior and items included in the test result to a prompt template corresponding to the difference between the expected behavior and the test result.

[0028] FIG. 3 is a schematic diagram showing an example of multiple templates stored in the template storage unit 200. In the example of FIG. 3, the template storage unit 200 stores multiple templates 1, 2, .... Each template is linked to multiple keywords related to, for example, the model number and control content of the control device 3 and the industrial machine 4. The prompt creation unit 130 searches for templates stored in the template storage unit 200 using keywords such as the model number and control content of the control device 3 and the industrial machine 4. Then, the template with the highest keyword match is read out as the template to be used to create the prompt. The read-out template is then used to generate a prompt. The generated prompt is then transmitted to the transmission unit 140.

[0029] FIG. 4 is a schematic diagram showing an example of a template. In the example of FIG. 4, the template includes information keys for embedding predetermined information at predetermined positions in the prompt sentence. The prompt creation unit 130 generates a prompt by embedding corresponding information at each information key position. In the example of FIG. 4, the model number of the industrial machine 4 is embedded at the position of "MODEL_NUM," and the model number of a tool used in the industrial machine 4 is embedded at the position of "TOOL_NUM." A numerical control program related to a test operation is embedded at the position of the information key "TEST_COMMAND." An expected operation input is embedded at the positions of the information keys "EXPECT_OPER1_1" and "EXPECT_OPER2_1," and the corresponding test results are embedded at the positions of the information keys "RESULT1_1" and "RESULT2_1." The template may also be provided with information keys corresponding to information calculated by performing a predetermined calculation based on predetermined machine information.

[0030] Such templates are created in advance in accordance with the format of the inquiry to the interactive response apparatus 2. For example, if the interactive response apparatus 2 responds to an inquiry in the form of a list of items, it is desirable that the templates be for generating a prompt that lists information related to a specific operation, machine information, and a verification purpose, as exemplified in Fig. 4. Furthermore, if the interactive response apparatus 2 responds to an inquiry in the form of a natural language, it is desirable that the templates be for generating a prompt in the form of a natural sentence. It is desirable that each template be created so as to include information that can be used as a reference when creating a response to an inquiry about the expected verification purpose of the setting information.

[0031] The transmission unit 140 transmits the prompt generated by the prompt generation unit 130 to the interactive response device 2. Upon receiving the prompt from the transmission unit 140, the interactive response device 2 generates a response to the prompt and transmits the generated response to the verification support device 1.

[0032] The receiving unit 150 receives the response transmitted from the interactive response apparatus 2. Then, the receiving unit 150 outputs the received response to the updating unit 160.

[0033] The update unit 160 extracts update information for the setting information from the response from the interactive response device 2 received by the receiving unit 150. FIG. 5 is a schematic diagram showing an example of a response from the interactive response device 2. The response from the interactive response device 2 includes information related to at least one update of setting information. The update unit 160 extracts the update information for the setting information using, for example, known natural language processing or pattern matching techniques. Then, based on the extracted update information for the setting information, the update unit 160 updates the setting information of the control device 3 and the industrial machine 4 acquired by the acquisition unit 100. The setting information indicated as the target for update may include numerical control parameters, numerical control programs, offset information related to the operation of the industrial machine 4, PLC programs, etc.

[0034] The acquisition unit 100 then instructs the test execution unit 110 to perform a test operation using the updated configuration information. These processes are repeated until the determination unit 120 determines that the test result matches the expected operation.

[0035] When the determining unit 120 determines that the test result matches the expected operation, the output unit 170 outputs the setting information at that time. The output unit 170 may be configured to display and output on the display device 70. Alternatively, the output unit 170 may be configured to display and output on a display device (not shown) of the control device 3 that controls the industrial machine 4 via the network 5. Furthermore, the output unit 170 may be configured to transmit and output via the network 5 to other computers such as the fog computer 6 and the cloud server 7.

[0036] The verification support device 1 according to this embodiment, which has the above configuration, can obtain reliable configuration information by repeatedly verifying the configuration information related to the industrial machine 4 and the control device 3. Since only configuration information that is determined to have no problems in the final operation is output, it can be reused as is while maintaining a certain level of reliability. As a result, there is no need for an operator to modify the configuration information, which is expected to reduce the number of steps.

[0037] Support provided by the verification support device 1 can be effectively utilized in manufacturing sites equipped with multiple sets of control devices 3 and industrial machines 4. For example, there may be cases where it is desired to set and operate setting information that has been used in a certain control device 3 and industrial machine 4 in another control device 3 and industrial machine 4. In this case, even if the expected operation is not obtained when the setting information is applied to the other control device 3 and industrial machine 4 and a test operation is performed, the setting information can be updated to suit the other control device 3 and industrial machine 4 based on a response from the interactive response device 2. This reduces the burden on the operator of the setting work for the control device 3 and industrial machine 4.

[0038] As a modified example of the verification support device 1 according to this embodiment, the sending unit 140 may also send supplemental information when sending the prompt generated by the prompt creation unit 130 to the interactive response device 2. Examples of the supplemental information include the manual for the control device 3, the manual for the industrial machine 4, various information related to the control device 3, various information related to the industrial machine 4, information related to the drive unit that drives the industrial machine 4 (such as the motor model number), information related to the environment in which the industrial machine 4 operates, and test results based on similar setting information. Sending the supplemental information to the interactive response device 2 together with the prompt improves the accuracy of the response by the interactive response device 2, making it possible to more reliably update the setting information.

[0039] [Other Embodiments] In the above-described embodiments, the setting information, test operations, and expected operations acquired by the acquisition unit 100 may be acquired from an operator, the industrial machine 4, an external device 72 of the verification support device 1, etc., but it may also be configured to acquire the above information from a storage device provided in an external computer such as a fog computer 6 or a cloud server 7 connected via a network 5.

[0040] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0041] The following are supplementary notes relating to embodiments of the present disclosure. (Supplementary Note 1) A verification support device (1) according to the present disclosure includes an acquisition unit (100) that acquires setting information of a control device (3) that controls an industrial machine (4), test operations in the control device (3), and expected operations of the industrial machine (4) that are assumed from the test operations, a test execution unit (110) that performs test operations related to the control device (3) and the industrial machine (4) based on the test operations and acquires test results related to the test operations, a determination unit (120) that determines whether the test results match the expected operations, and, when the determination unit (120) determines that the test results do not match the expected operations, performs a verification based on the expected operations and the test results. a prompt creation unit (8130) that creates a prompt for updating the setting information in response to the prompt; a transmission unit (140) that transmits the prompt to the interactive response device (2); a reception unit (150) that receives update information of the setting information based on the prompt from the interactive response device (2); an update unit (160) that updates the setting information based on the update information; and an output unit (170) that outputs the setting information when the determination unit (120) determines that the setting information matches the expected operation, and the test operation is repeated using the updated setting information until the determination unit (120) determines that the test result matches the expected operation.

[0042] (Supplementary Note 2) The setting information used by the verification support device (1) according to the present disclosure includes at least one of setting parameters of the control device (3), a numerical control program, offset information, and a PLC program. (Supplementary Note 3) The transmission unit (140) included in the verification support device (1) according to the present disclosure transmits supplemental information to the interactive response device (2) in addition to the prompt. (Supplementary Note 4) The supplemental information used by the verification support device (1) according to the present disclosure includes at least one of manual information, industrial machinery information, control device information, drive unit information that drives the industrial machinery, environmental information, and test results based on similar information.

[0043] (Supplementary Note 5) The acquisition unit (100) included in the verification support device (1) according to the present disclosure acquires setting information input by an operator or setting information received as a response from the interactive response device (2). (Supplementary Note 6) The prompt creation unit (130) included in the verification support device (1) according to the present disclosure creates a prompt based on the test operation.

[0044] (Supplementary Note 7) A computer-readable recording medium according to the present disclosure includes an acquisition unit (100) that acquires setting information of a control device (3) that controls an industrial machine (4), a test operation in the control device (3), and an expected operation of the industrial machine (4) that is assumed from the test operation; a test execution unit (110) that performs a test operation related to the control device (3) and the industrial machine (4) based on the test operation and acquires a test result of the test operation; a determination unit (120) that determines whether the test result matches the expected operation; and, when the determination unit (120) determines that the test result does not match the expected operation, updates the setting information based on the expected operation and the test result. a prompt creation unit (130) that creates a prompt for the test result, a transmission unit (140) that transmits the prompt to an interactive response device (2), a reception unit (150) that receives update information for the setting information based on the prompt from the interactive response device (2), an update unit (160) that updates the setting information based on the update information, and an output unit (170) that outputs the setting information when the determination unit (120) determines that the test result matches the expected behavior, and a program that repeats the test operation using the updated setting information until the determination unit (120) determines that the test result matches the expected behavior is recorded.

[0045] REFERENCE SIGNS LIST 1 Verification support device 2 Interactive response device 3 Control device 4 Industrial machine 5 Network 6 Fog computer 7 Cloud server 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 17, 18, 20 Interface 22 Bus 70 Display device 71 Input device 72 External device 100 Acquisition unit 110 Test execution unit 120 Determination unit 130 Prompt creation unit 140 Transmission unit 150 Reception unit 160 Update unit 170 Output unit 200 Template storage unit

Claims

1. An acquisition unit that acquires setting information for controlling an industrial machine, a test operation in the control device, and an expected operation of the industrial machine assumed from the test operation; a test execution unit that performs a test operation related to the control device and the industrial machine based on the test operation and acquires a test result related to the test operation; a determination unit that determines whether the test result matches the expected operation; a prompt creation unit that creates a prompt for updating the setting information based on the expected operation and the test result when the determination unit determines that the test result does not match the expected operation; a transmission unit that transmits the prompt to an interactive response device; a reception unit that receives update information of the setting information based on the prompt from the interactive response device; an update unit that updates the setting information based on the update information; and an output unit that outputs the setting information when the determination unit determines that the test result matches the expected operation. The verification support device repeats the test operation using the updated setting information until the determination unit determines that the test result matches the expected operation.

2. The verification support device according to claim 1, wherein the setting information includes at least one of setting parameters of the control device, a numerical control program, offset information, and a PLC program.

3. The verification support device according to claim 1, wherein the transmission unit further transmits supplementary information to the interactive response device in addition to the prompt.

4. The verification support device according to claim 3, wherein the supplementary information includes at least one of manual information, industrial machine information, control device information, drive unit information for driving the industrial machine, environmental information, and test results based on similar information.

5. The verification support device according to claim 1, wherein the acquisition unit acquires setting information input by an operator or setting information received as a response from the interactive response device.

6. The verification support device according to claim 1, wherein the prompt creation unit creates a prompt based on the test operation.

7. An acquisition unit that acquires setting information of a control device for controlling an industrial machine, a test operation in the control device, and an expected operation of the industrial machine assumed from the test operation; a test execution unit that performs a test operation related to the control device and the industrial machine based on the test operation and acquires a test result of the test operation; a determination unit that determines whether the test result matches the expected operation; a prompt creation unit that creates a prompt for updating the setting information based on the expected operation and the test result when the determination unit determines that the test result does not match the expected operation; a transmission unit that transmits the prompt to an interactive response device; a reception unit that receives update information of the setting information based on the prompt from the interactive response device; an update unit that updates the setting information based on the update information; an output unit that outputs the setting information when the determination unit determines that the test result matches the expected operation; A program for operating a computer is recorded, and the test operation is repeated using the updated setting information until the determination unit determines that the test result matches the expected operation. A computer-readable recording medium on which the program is recorded.

Images