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Evaluierung von Software-Verifikationswerkzeugen [00091]
EventEmbedded Software Engineering Kongress 2016
Date1 Dec 2016 - 1 Dec 2016
LocationSindelfingen, Germany
Files
We present results from the ESVW activity (Evaluierung von Software-Verifikationsmethoden und -Werkzeugen, Evaluation of Software Verification Method and Tools) BSSE and its subcontractor etamax space GmbH have performed on behalf of the German Space Center (DLR). In the course of this activity, six different verification tools were evaluated for their fault detection capabilities. The presentation provides an insight into the activity, the methods used, the results as well as general and specific lessons learned relevant for the use of software verification tools.
Cleared Direct To Target - Approaching the Target System at a Touch via Simulation [00075]
EventAirTec 2010
Date2 Nov 2010 - 4 Nov 2010
LocationFrankfurt am Main, Germany
Files
This paper describes an improved process for development of software for critical systems fully bridging the gap between a specification and an executable target version by an automaton. The process covers the broad class of distributed and/or fault-tolerant and/or real-time systems, and meets the needs of critical systems. It has its roots in the space domain.
Tool-Guided, Domain-Specific, Systematic Requirements Management [00072]
EventDASIA 2010
Date1 Jun 2010 - 4 Jun 2010
LocationBudapest, Hungary
Files
The importance of the quality of requirements for successful execution and completion of a project from a technical and contractual point of view is being recognized more and more. Many methods are targeted to improve the support for collecting requirements while still focusing on natural language. However, the ambiguities in the semantics of natural language are the biggest obstacles towards success. The approach presented in this paper focuses on the elements of a domain while keeping the expressiveness of natural names and terms and introducing clear semantics. This brings the advantage that immediate verification of the human-provided inputs is possible, immediate contributions to validation are available and inconsistencies can be detected by a tool immediately. This leads to guidance of an engineer by a tool towards consistent, complete and correct requirements - requirements of high quality - and eases maintenance for the same reasons. As most of the complexity is handled by the tool due to its good knowledge on the domain, the approach is scalable towards large specifications. Several examples of application domains are described which illustrate the universality and feasibility of the approach across domain boundaries.
Position of the Working Group of German Space SME [00076]
EventESA Workshop on Open Source Software
Date12 Nov 2009
LocationNoordwijk, The Netherlands
Presentation on behalf of the Working Group of Space-SME (AKRK) of the position of German SME regarding the Open Source Software Strategy of the European Space Agency.
Legal and Strategical Aspects of OSS in the Space Industry [00077]
EventESA Workshop on Open Source Software
Date12 Nov 2009
LocationNoordwijk, The Netherlands
Presentation of questions, risks and advantages of the Open Source Software Strategy of the European Space Agency.
Verallgemeinertes Rahmenwerk zur constraintbasierten Testdatenerzeugung aus Programmflussgraphen [00078]
Date28 Oct 2009
LocationUniversity of Ulm, Germany
Generalised framework for constraintbased test-data generation using program flow graphs.
Open Source Software - Risks and Benefits [00079]
EventMeeting of the Working Group of German Space SME (DLR-AKRK)
Date15 Jun 2009
LocationBonn, Germany
Software Patents in Europe - Risks and Side Effects [00080]
EventMeeting of the Working Group of German Space SME (DLR-AKRK)
Date15 Jun 2009
LocationBonn, Germany
Fault Identification Strategies [00071]
EventDASIA 2009
Date26 May 2009 - 29 May 2009
LocationIstanbul, Turkey
Files

Various strategies for fault identification exist - e.g. based on formal analysis of code or on testing - of which each focuses on certain identification aspects and fault types. This paper characterises the strengths and weaknesses of methods – in theory and practice - focusing on application-independent identification strategies, and it suggests strategies to maximise the number of detected faults while minimising the related effort. Fault activation conditions are discussed in detail, resulting in an extended scope on stimulation needs. In particular, the contribution of automation in raising the activation probabilities is investigated. Various examples of fault activation mechanisms and statistics on fault types vs. identification methods are provided as observed in practice. An interesting result is the identification of application-dependent test cases by application-independent test strategies.

Automated Verification of Code Generated from Models: Comparing Specifications with Observations [00070]
EventDASIA 2008
Date27 May 2008 - 30 May 2008
LocationPalma de Mallorca, Spain
Files

Certification is based on compliance of the code of the code generator with given standards. Such compliance never can guarantee correctness of the whole chain through transformation down to the environment for execution, though the belief is that certification implies well-formed code at a reduced fault rate.

The approach presented here goes a direction different from manual certification.. It is guided by the idea of automated proof: each time code is generated from a model the properties of the code when being executed in its environment are compared with the properties specified in the model. This allows to conclude on the correctness of the whole chain for every application and related generated code.

Path Constraint Construction with Look-ahead [00081]
EventGI-Software Engineering Conference 2008
Date18 February 2008 - 22 February 2008
LocationMunich, Germany
A new approach for constructing path constraints in constraintbased test-data generation using results from analysis of control-flow graphs.
Random Testing: From the Classical Approach to a Global View on Full Test Automation [00082]
EventSecond International Workshop on Random Testing, RT'07
Date6 Nov 2007
LocationAtlanta, Georgia, USA
We present an approach of fully-automated software test, using application-independent criteria for fault identification.
Model Transformation in Practice [00073]
EventDASIA 2007
Date29 May 2007 - 1 Jun 2007
LocationNaples, Italy
Files
The intention of this paper is to highlight the benefits of model exchange between different tools, methods and notations on one side, and to identify issues of proper modelling on the other side which have been detected during model transformation and code generation from models.
Evaluation of Auto-Test Generation Strategies and Platforms [00074]
EventDASIA 2007
Date29 May 2007 - 1 Jun 2007
LocationNaples, Italy
Files
As the test effort takes a significant part of the software development lifecycle, efficient test strategies are a precondition for reduction of development costs and time. In this respect two main issues exist: firstly, the tuning of the test track from test case identification to evaluation, secondly, the reduction of number of test cases to be processed and evaluated. Both aspects were considered in the work presented in this paper.
Integrierte Testkonzepte - Von der Theorie zur Praxis und zurück [00083]
EventGI-Software Engineering Conference 2007
Date27 Mar 2007
LocationHamburg, Germany
Schneller zum Ziel durch integrierte Testautomation [00084]
EventImbus QS-Tag 2006
Date9 Nov 2006
LocationNuremberg, Germany
Improving Test Automation by Deterministic Methods in Statistical Testing [00067]
EventDASIA 2006
Date22 May 2006 - 25 May 2006
LocationBerlin, Germany
Files
This paper was presented at the DASIA 2006 conference in Berlin, Germany. It lays out principal approaches for tackling the "small target" and "oracle" problems in statistical automatic testing by applying deterministic methods for assistance.
Organising Test Performance [00085]
Event6. Workshop Performance Engineering in der Softwareentwicklung, PE 2005
Date10 Jun 2005
LocationBerlin, Germany
Software Diversity by Automation [00068]
EventDASIA 2005
Date30 May 2005 - 2 Jun 2005
LocationEdinburgh, Scotland
Files
This paper was presented at the DASIA 2005 conference in Edinburgh, Scotland. It shows the result of an Automated ISVV (AISVV) activity executed on the Flight Application Software (FAS) of the Autonomous Transfer Vehicle (ATV).
Automated Software Production - Quo Vadis [00086]
EventDASIA 2005
Date30 May 2005 - 2 Jun 2005
LocationEdinburgh, Scotland
Automation in the Software Lifecycle, Tailoring ECSS-E-40 for Automatic Code Generation [00087]
EventESA/BSSC Workshop on the Usage of ECSS Software Standards for Space Projects
Date7 Feb 2005 - 8 Feb 2005
LocationNoordwijk, The Netherlands
Product Assurance and Automatic Code Generation - Tailoring ECSS-Q-80 for ACG [00088]
EventESA/BSSC Workshop on the Usage of ECSS Software Standards for Space Projects
Date7 Feb 2005 - 8 Feb 2005
LocationNoordwijk, The Netherlands
Can We Provide Better Protection against Budget Overruns of Software Projects? [00069]
EventDASIA 2004
Date28 Jun 2004 - 1 Jul 2004
LocationNice, France
Files
This paper was presented at the DASIA 2004 conference in Nice, France. The answer to this hypothetic question is "yes", of course. The paper will approach the problem in two steps: firstly, we will discuss if and which measures exist to identify an overrun early enough, secondly, we will analyse the sources of overruns and which means may be applied not to exceed the planned budget.
Mehr Effizienz durch skalierbare und selbst-adaptierende Softwareentwicklungsprozesse [00090]
Event2. Raumfahrttechnologietage DLR
Date4 Nov 2003 - 5 Nov 2003
LocationBonn, Germany
Perspektiven der Softwareentwicklung - Probleme und Lösungen [00089]
EventRaumfahrttechnologietage DLR
Date9 Jul 2003 - 10 Jul 2003
LocationBonn, Germany
Avoiding Malfunctions Due To Software Failures by Automation of Software Production and Test [00001]
EventColloquium: Technology Exchange between Space and Automotive Industry
Date6 Nov 2002
LocationDarmstadt, Germany
Files
This is the presentation as given during the Colloquium: Technology Exchange between Space and Automotive Industry in Darmstadt, Germany (Nov 6th, 2002).
Automatische Software Produktion-Was ist möglich? [00002]
EventMicroConsult Praxisforum "Embedded Quality - Neue Dimensionen der Qualititätssicherung"
Date15 Oct 2002
LocationMunich, Germany
Files
Links
References

This is the more practice-oriented presentation as given in Munich (Oct 15, 2002).

If you would like to get an example file package as shown during the presentation please contact us.

Automatische Software Produktion-Was ist möglich? [00003]
EventMicroConsult Praxisforum "Embedded Quality - Neue Dimensionen der Qualititätssicherung"
Date10 Oct 2002
LocationZurich, Switzerland
Files
Links
References

This is the strategy-oriented presentation as given during the MicroConsult Praxis Forum "Embedded Quality - Neue Dimension der Qualitätssicherung" in Zurich (Oct 10th, 2002).

Benchmarks on Automated System and Software Generation [00004]
EventDASIA 2002
Date13 May 2002 - 16 May 2002
LocationDublin, Ireland
Files
This paper was presented at the DASIA 2002 conference in Dublin, Ireland. It shows results of benchmarks on projects carried out using ISG/ASaP.
Automated Software Production(ISG/ASaP) [00005]
DateDec 2001
Files

The ISG/ASaP approach allows automated system generation from engineering information and to immediately build an executable system from engineering level.

This approach has already been successfully applied to provide the infrastructure and major parts of the application software for the Material Science Laboratory aboard the International Space Station(ISS).

Kosteneinsparung und Qualitätsverbesserung durch Automation in der System- und Softwareentwicklung(German) [00006]
EventKooperationsForum Computer Hard- und Software
Date24 Oct 2001
LocationBerlin, Germany
Files
This paper describes the potential of ISG/ASaP for cost-savings and quality improvements.
Software Development of Embedded Systems by ISG - To Be Faster at Less Costs and Higher Quality [00007]
DateOct 2001
Files
This paper describes the benefits of ISG/ASaP in the context of embedded systems.
ISG and Software Quality [00008]
DateJul 2001
Files
The impact on the improvement of software quality by ISG/ASaP is discussed by this paper.
Platform-Dependent (Cost) Impacts on Portability, Software Reuse and Maintenance [00009]
EventDASIA 2001
Date28 May 2001 - 1 June 2001
LocationNice, France
Files
This paper describes the challenges of maintaining software on different platforms.
Automation in der Softwareentwicklung - ausfürhbare Progrfamme ohne Programmierung mit ISG (Instantaneous System and Software Generation) erzeugen [00065]
EventArbeitskreis Studenten und Jungingenieure, VDI
Date28 Apr 2001
LocationFH Sigmaringen-Albstadt, Albstadt, Germany
The presentation covered application of automation in the area of software engineering and included a demo of generation of a distributed realtime system with 16 processes within ca. 40 minutes.
Performance and Robustness Engineering: From A Conflict Towards Fair Coexistence [00010]
Event2nd Workshop Performance Engineering in der Softwareentwicklung
Date26 Apr 2001
LocationUniversität der Bundeswehr Munich, Germany
Files
This paper discusses the potential conflict between performance and robustness issues of software development.
Be Faster on The Market at Less Costs by ISG [00011]
DateFeb 2001
Files
A comparison of the conventional and the ISG life-cycle and evaluation of cost savings by ISG.
Down-scaling Generation, Verification and Validation of Software into the Range of Hours: The Benefits of Complete Formalisation and Automation [00012]
DateOct 2000
Files
This paper discusses the advantages of formalisation and automation of software production and the challenges yet to master with current operation platforms.
ISG and Synchronous Systems [00013]
DateOct 2000
Files
Links
This presentation summarizes the results as obtained by ISG/ASaP in the course of the ESPRIT project CRISYS (EP 25514). The goal was to evaluate the robustness in presence of time-jitter and fault-injection for a critical distributed control system.
Instantaneous System and Software Generation: A brief introduction and survey [00014]
DateAug 2000
Files
In this paper BSSE's motivation behind ISG/ASaP is presented and its relevance to the Capability Maturity Model(CMM) defined by Carnegie-Mellon Software Engineering Institute. It is shown that by use of Automated Software Production the upper levels of CMM are reached immediately.
An Implementation and Verification Technique for Distributed Systems [00015]
EventMOVEP2k: Modelling and Verification of Parallel Processes
Date19 Jun 2000 - 23 Jun 2000
LocationNantes, France
Files
Verification and validation of distributed systems as defined by the ISG-approach is described in this paper.
Automated generation of real-time software from datasheet-based inputs: The process model, the platform and the feedback from the MSL project activities [00016]
EventDASIA 2000
Date22 May 2000 - 26 May 2000
LocationMontreal, Canada
Files
This paper describes how ISG was used to built MSL software.
Software Development for the Material Science Laboratory on ISS by Automated Generation of Real-time Software from Datasheet-based Inputs [00017]
EventDASIA 2000
Date22 May 2000 - 26 May 2000
LocationMontreal, Canada
Files

This paper was presented during the DASIA 2000 conference in Montreal, Canada by Kayser-Threde.

It describes the organisation of the database from which MSL software was automatically generated by ISG/ASaP.

Built-In Performance and Robustness Engineering Capabilities by a Formalised and Automated Software Development Process [00018]
Event1st German Workshop on Performance Engineering (PE2000)
Date17 May 2000
LocationDarmstadt, Germany
Files
Links

This paper was presented on the 1st German Workshop on Performance Engineering PE2000 at Darmstadt. It discusses performance and robustness of software in context of ISG.

The revised version of this paper "Performance and Robustness Engineering and the Role of Automated Software Development" is under copyright of Springer Verlag and can be viewed as LNCS #2047.

Procurement of a SDL Model for Behavioural Validation of MSL [00019]
Date9 Nov 1999
Files
This is the final report of the ESA study on behavioural validation of MSL.
A Method for the Incremental Software Development and Validation of Complex Distributed Systems [00066]
EventINCOSE meeting
Date29 Sep 1999
LocationBosch telecom, Backnang, Germany
In the presentation application of incremental development and validation in the area of complex distributed systems was explained.
Organizing Incremental, Reusable and Automated Software Development [00020]
EventDASIA'99
Date17 May 1999 - 21 May 1999
LocationLisbon, Portugal
Files
Description of an approach for incremental software development and validation applying automated generation of an executable system from a minimum of system engineering information.
Verification with SDL - Some Hints about How to reduce size of state space [00021]
DateJan 1999
Files
This paper gives advice how to master state explosion.
Simulation of a System's Behaviour and its Physical Environment: How to master Tool Integration [00022]
EventESA'98 4th conference on simulators
Date3 Nov 1998 - 5 Nov 1998
LocationESTEC, Noordwijk, The Netherlands
Files
This paper was presented during the ESA'98 4th conference on simulators, November 3th-5th 1998 in Noordwijk. It shows BSSE's experience with tool integration.
Lessons learned by the use of (C)OTS [00023]
EventDASIA'98 conference
Date25 May 1998 - 28 May 1998
LocationAthens, Greece
Files
This paper was presented during the DASIA'98 conference, May 25th-28th 1998 in Athens. It shows BSSE's experience with the use of (Commercial-)Off-The-Shelf-Software based on a project dealing with the integration of a number of (C)OTS packages and software developed from scratch.
EaSySim II SDL Extensions for Performance Simulation [00024]
EventWorkshop on Performance and Time in SDL and MSC
Date17 Feb 1998 - 19 Feb 1998
LocationUniversity of Erlangen, Germany
Files
Links
This paper was presented during the workshop on Performance and Time in SDL and MSC, at the University of Erlangen, February 17th - 19th 1998.
Accuracy of Simulation [00025]
EventWorkshop on Performance and Time in SDL and MSC
Date17 Feb 1998 - 19 Feb 1998
LocationUniversity of Erlangen, Germany
Files
Links
This paper was presented during the workshop on Performance and Time in SDL and MSC, at the University of Erlangen, February 17th - 19th 1998.
EaSySim II: Software System Validation Using Executable Models [00026]
DateDec 1997
Files
Links
References
Early System Validation: With Executable Models through the Life Cycle [00027]
DateDec 1997
References
This paper was published by ESANEWS, December 1997.
Tuning Development of Distributed Real-Time Systems with SDL and MSC: Current Experience and Future Issues [00028]
EventSDL'97 Forum
Date23 Sep 1997 - 26 Sep 1997
LocationEvry, France
Files
Links
References
Tuning Development of Distributed Real-Time Systems with SDL and MSC: Current Experience and Future Issues [00029]
EventSDL'97 conference
Date23 Sep 1997 - 26 Sep 1997
LocationEvry, France
Files
References
This paper was published by Elsevier Science Publishers B.V., ISBN: 0-444-82816-8
Experience with Validation by Simulation, Automated Code Generation and Integration [00030]
EventDASIA'97
Date26 May 1997 - 29 May 1997
LocationSevilla, Spain
Files
The presentation included an online demonstration on a Sparc Workstation and a PC laptop.
With Executable Models through the Life Cycle [00031]
EventFEmSys'97 Workshop on Formal Design of Safety Critical Embedded Systems
Date16 Apr 1997 - 18Apr 1997
LocationMunich, Germany
The presentation included a tool demonstration.
Improving Computer-Aided Management of Social Processes by Techniques Applied to Safety-Critical Systems [00032]
EventCSR 13th Annual Workshop "Design for Protecting the User"
Date11 Sep 1996 - 13 Sep 1996
LocationBĂĽrgenstock near Luzern, Switzerland
GIFTBox: A Guide to master Distributed, Heterogeneous Systems [00033]
DateJun 1996
Files
Describes a generic architecture and decomposition scheme.
From CASE to CIVE: A Future Challenge! [00034]
EventDASIA'96
Date20 May 1996 - 23 May 1996
LocationRome, Italy
Files
This paper was presented during the DASIA'96 conference, May 20th - 23th 1996 in Rome.
Formal Methods for the Validation of Autonomous Spacecraft Fault Tolerance [00035]
Date1996
Use of an extended SDL Environment for Specification and Design of On-Board Operations [00036]
EventSystems Engineering Workshop
Date28 Nov 1995 - 30 Nov 1995
LocationESTEC, Noordwijk, The Netherlands
Files
Links
This paper was presented during the Systems Engineering Workshop, November 28th - 30th 1995 at ESTEC, Noordwijk.
An alternative Lifecycle based on Problem-Oriented Strategies [00037]
EventInternational Symposium on On-Board Real-Time Software
Date13 Nov 1995 - 15 Nov 1995
LocationESTEC, Noordwijk, The Netherlands
Files
This paper was presented during the International Symposium on On-Board Real-Time Software, November 13th - 15th 1995 at ESTEC, Noordwijk.
Distributed and Parallel Systems and HOOD4 [00038]
EventAda in Europe'95 conference
Date02 Oct 1995 - 06 Oct 1995
LocationFrankfurt/Main, Germany
Files
This paper was presented during the Ada in Europe'95 conference October 02nd - 06th 1995 in Frankfurt/Main.
A Strategy for Development of High Quality Embedded Systems [00039]
EventCASE Anwendertag
Date19 Sep 1995
LocationDLR, Göttlingen, Germany
Files
This paper was presented during the "CASE Anwendertag", September 19th 1995 at the DLR in Göttlingen.
EaSyVaDe: Early Validation of System Design by Behavioural Simulation [00040]
Event3rd ESTEC Workshop on Simulators for European Space Programmes
Date15 Nov 1994 - 19 Nov 1994
LocationESTEC, Noordwijk, The Netherlands
Files
Links
This paper was presented during the 3rd ESTEC Workshop on Simulators for European Space Programmes, November 15th - 17th 1994 at ESTEC, Noordwijk.
Tuning Ada Programs in Advance [00041]
EventEurospace Symposium "Ada in Europe"
Date26 Sep 1994 - 30 Sep 1994
LocationCopenhagen, Denmark
A Cost Estimation Model for Maintenance and High Reuse [00042]
EventEuropean Cost Modelling Conference
Date11 May 1994 - 13 May 1994
LocationIvrea near Torino, Italy
Early Validation of a DMS (Data Management System) Design by a Reusable Simulation Environment [00043]
EventEurospace On-Board Data Management Symposium on "Technology and Applications for Space Data Management System"
Date25 Jan 1994 - 27 Jan 1994
LocationRome, Italy
A Random-Testing Environment for Ada Programs [00044]
EventEurospace Symposium "Ada in Aerospace"
DateNov 1993
Dynamische Konfiguration mit Ada [00045]
EventAda Deutschland
Date1 Apr 1993
LocationStuttgart, Germany
Requirementsanalyse: Entscheidend für den späteren Erfolg [00046]
DateDec 1992
Deterministic Scheduling with Ada: Simulation of a Tasking Approach [00047]
EventEurospace Symposium "Ada in Aerospace"
Date9 Nov 1992 - 13 Nov 1992
LocationVienna, Austria
Dynamic Configuration with Ada [00048]
Event10th Annual National Conference on Ada Technology
Date24 Feb 1992 - 27 Feb 1992
LocationWashington, USA
An Object-Oriented Approach to Real-Time Processing [00049]
EventEurospace Symposium "Ada in Aerospace"
DateNov 1991
LocationRome, Italy
Requirementsanalyse mit ASA in Raumfahrtprojekten [00050]
EventVDEB-Anwenderforum "Software Engineering"
DateAug 1991
LocationCologne, Germany
Run-Time Linking and On-Line Mode Management with Ada [00051]
EventESA 1st Conference on Spacecraft Guidance, Navigation and Control
DateMay 1991
The presentation included a demo on the PC platform.
Anwenderbericht ASA (user report) [00052]
EventBerufskolleg Esslingen
DateFeb 1991
LocationEsslingen, Germany
On-Line Replacement and Reconfiguration of Ada Real-Time Software [00053]
EventEurospace Symposium Ada in Aerospace
DateDec 1990
LocationBarcelona, Spain
The presentation included a demo on the PC platform.
On Experience in Modelling of System's Operational Behaviour [00054]
EventCNES Software Management Symposium
DateOct 1990
Improvements Needed for Software Development in the Large [00055]
EventCNES Software Management Symposium
DateOct 1990
Object-Oriented Methods and Software Life cycle [00056]
EventEurospace Ada Working Group
DateOct 1990
LocationParis, France
Mixing Ada and C Language [00057]
EventEurospace Ada Working Group
DateDec 1989
LocationParis, France
A Concept for Future AOCS/GNC Software [00058]
EventESA Workshop on Advanced Technologies for Spacecraft Attitude Control, Guidance and Navigation
Date11 Oct 1989 - 13 Oct 1989
A Software Design Philosophy for COLUMBUS [00059]
EventInternational Symposium on Space Software Engineering: COLUMBUS and Space Infrastructures
Date30 Nov 1988 - 2 Dec 1988
LocationTurin, Italy
Aspects for a Fault-Tolerant Concept for On-Board Software [00060]
EventInternational Symposium on Space Software Engineering: COLUMBUS and Space Infrastructures
Date30 Nov 1988 - 2 Dec 1988
LocationTurin, Italy
Supporting the Transition from C to Ada [00061]
EventESA Workshop on the Management and Engineering of Ada Software within European Space Projects
Date14 May 1986 - 15 May 1986
LocationESTEC, Noordwijk, The Netherlands
Ein Kommunikations-Prozessor und -System hoher Flexibilität für komplexe Datenbank-Anforderungen [00062]
Date1983
Data base concept for real-time access of databases in continuos operation under fail-operational conditions.
Zeitbedarf fĂĽr Rechenoperationen mit dem Mikroprozessor 6502 [00063]
Date1981
Time consumption of typical mathematical functions and operations on 6502
Ein schnelles Interpolationsverfahren fĂĽr die rechnergestĂĽtzte Werkzeugmaschinensteuerung [00064]
Date1980
Fast algorithms for stable, recursive computation of sin, cos, exp, sinh, cosh for 8bit-processors, CNC application)