624 research outputs found
Correct-by-Construction Approach for Self-Evolvable Robots
The paper presents a new formal way of modeling and designing reconfigurable
robots, in which case the robots are allowed to reconfigure not only
structurally but also functionally. We call such kind of robots
"self-evolvable", which have the potential to be more flexible to be used in a
wider range of tasks, in a wider range of environments, and with a wider range
of users. To accommodate such a concept, i.e., allowing a self-evovable robot
to be configured and reconfigured, we present a series of formal constructs,
e.g., structural reconfigurable grammar and functional reconfigurable grammar.
Furthermore, we present a correct-by-construction strategy, which, given the
description of a workspace, the formula specifying a task, and a set of
available modules, is capable of constructing during the design phase a robot
that is guaranteed to perform the task satisfactorily. We use a planar
multi-link manipulator as an example throughout the paper to demonstrate the
proposed modeling and designing procedures.Comment: The paper has 17 pages and 4 figure
Active Self-Assembly of Algorithmic Shapes and Patterns in Polylogarithmic Time
We describe a computational model for studying the complexity of
self-assembled structures with active molecular components. Our model captures
notions of growth and movement ubiquitous in biological systems. The model is
inspired by biology's fantastic ability to assemble biomolecules that form
systems with complicated structure and dynamics, from molecular motors that
walk on rigid tracks and proteins that dynamically alter the structure of the
cell during mitosis, to embryonic development where large-scale complicated
organisms efficiently grow from a single cell. Using this active self-assembly
model, we show how to efficiently self-assemble shapes and patterns from simple
monomers. For example, we show how to grow a line of monomers in time and
number of monomer states that is merely logarithmic in the length of the line.
Our main results show how to grow arbitrary connected two-dimensional
geometric shapes and patterns in expected time that is polylogarithmic in the
size of the shape, plus roughly the time required to run a Turing machine
deciding whether or not a given pixel is in the shape. We do this while keeping
the number of monomer types logarithmic in shape size, plus those monomers
required by the Kolmogorov complexity of the shape or pattern. This work thus
highlights the efficiency advantages of active self-assembly over passive
self-assembly and motivates experimental effort to construct general-purpose
active molecular self-assembly systems
Modeling and formal verification of probabilistic reconfigurable systems
In this thesis, we propose a new approach for formal modeling and verification of adaptive probabilistic systems. Dynamic reconfigurable systems are the trend of all future technological systems, such as flight control systems, vehicle electronic systems, and manufacturing systems. In order to meet user and environmental requirements, such a dynamic reconfigurable system has to actively adjust its configuration at run-time by modifying its components and connections, while changes are detected in the internal/external execution environment. On the other hand, these changes may violate the memory usage, the required energy and the concerned real-time constraints since the behavior of the system is unpredictable. It might also make the system's functions unavailable for some time and make potential harm to human life or large financial investments. Thus, updating a system with any new configuration requires that the post reconfigurable system fully satisfies the related constraints. We introduce GR-TNCES formalism for the optimal functional and temporal specification of probabilistic reconfigurable systems under resource constraints. It enables the optimal specification of a probabilistic, energetic and memory constraints of such a system. To formally verify the correctness and the safety of such a probabilistic system specification, and the non-violation of its properties, an automatic transformation from GR-TNCES models into PRISM models is introduced. Moreover, a new approach XCTL is also proposed to formally verify reconfigurable systems. It enables the formal certification of uncompleted and reconfigurable systems. A new version of the software ZIZO is also proposed to model, simulate and verify such GR-TNCES model. To prove its relevance, the latter was applied to case studies; it was used to model and simulate the behavior of an IPV4 protocol to prevent the energy and memory resources violation. It was also used to optimize energy consumption of an automotive skid conveyor.In dieser Arbeit wird ein neuer Ansatz zur formalen Modellierung und Verifikation dynamisch rekonfigurierbarer Systeme vorgestellt. Dynamische rekonfigurierbare Systeme sind in vielen aktuellen und zukünftigen Anwendungen, wie beispielsweise Flugsteuerungssystemen, Fahrzeugelektronik und Fertigungssysteme zu finden. Diese Systeme weisen ein probabilistisches, adaptives Verhalten auf. Um die Benutzer- und Umgebungsbedingungen kontinuierlich zu erfüllen, muss ein solches System seine Konfiguration zur Laufzeit aktiv anpassen, indem es seine Komponenten, Verbindungen zwischen Komponenten und seine Daten modifiziert (adaptiv), sobald Änderungen in der internen oder externen Ausführungsumgebung erkannt werden (probabilistisch). Diese Anpassungen dürfen Beschränkungen bei der Speichernutzung, der erforderlichen Energie und bestehende Echtzeitbedingungen nicht verletzen. Eine nicht geprüfte Rekonfiguration könnte dazu führen, dass die Funktionen des Systems für einige Zeit nicht verfügbar wären und potenziell menschliches Leben gefährdet würde oder großer finanzieller Schaden entstünde. Somit erfordert das Aktualisieren eines Systems mit einer neuen Konfiguration, dass das rekonfigurierte System die zugehörigen Beschränkungen vollständig einhält. Um dies zu überprüfen, wird in dieser Arbeit der GR-TNCES-Formalismus, eine Erweiterung von Petrinetzen, für die optimale funktionale und zeitliche Spezifikation probabilistischer rekonfigurierbarer Systeme unter Ressourcenbeschränkungen vorgeschlagen. Die entstehenden Modelle sollen über probabilistische model checking verifiziert werden. Dazu eignet sich die etablierte Software PRISM. Um die Verifikation zu ermöglichen wird in dieser Arbeit ein Verfahren zur Transformation von GR-TNCES-Modellen in PRISM-Modelle beschrieben. Eine neu eingeführte Logik (XCTL) erlaubt zudem die einfache Beschreibung der zu prüfenden Eigenschaften. Die genannten Schritte wurden in einer Softwareumgebung für den automatisierten Entwurf, die Simulation und die formale Verifikation (durch eine automatische Transformation nach PRISM) umgesetzt. Eine Fallstudie zeigt die Anwendung des Verfahren
Application of hypergraphs in decomposition of discrete systems
seria: Lecture Notes in Control and Computer Science ; vol. 23
Mind, machines and manufacturing: a philosophical essay on machining
Manufacturing evolution provided more and more efficient techniques to extend the anthropometric capabilities of humans. From the Neolithic Revolution to the Digital Revolution, passing through Renaissance and the Industrial Revolution, men invented new tools/systems to achieve objectives covering all the Maslow\u2019s hierarchy of needs: physiological, psychological, self-fulfillment needs.
Nowadays, the complexity of society, manufacturing and information technology as well as industry makes challenging to delineate a comprehensive framework of the machining processes that could indicate the trend of the fabrication industry.
This paper will provide an historical perspective of the manufacturing industry and its co-evolution in the actual society. In particular, a parallel between the advancement of computer science, information technologies and the machining processes will be presented by considering the description tools provided by different research areas
A guided tour of asynchronous cellular automata
Research on asynchronous cellular automata has received a great amount of
attention these last years and has turned to a thriving field. We survey the
recent research that has been carried out on this topic and present a wide
state of the art where computing and modelling issues are both represented.Comment: To appear in the Journal of Cellular Automat
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