SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation

Modular and predictable assembly of porous organic molecular crystals

Nanoporous molecular frameworks are important in applications such as separation, storage and catalysis. Empirical rules exist for their assembly but it is still challenging to place and segregate functionality in three-dimensional porous solids in a predictable way. Indeed, recent studies of mixed crystalline frameworks suggest a preference for the statistical distribution of functionalities throughout the pores rather than, for example, the functional group localization found in the reactive sites of enzymes. This is a potential limitation for 'one-pot' chemical syntheses of porous frameworks from simple starting materials. An alternative strategy is to prepare porous solids from synthetically preorganized molecular pores. In principle, functional organic pore modules could be covalently prefabricated and then assembled to produce materials with specific properties. However, this vision of mix-and-match assembly is far from being realized, not least because of the challenge in reliably predicting three-dimensional structures for molecular crystals, which lack the strong directional bonding found in networks. Here we show that highly porous crystalline solids can be produced by mixing different organic cage modules that self-assemble by means of chiral recognition. The structures of the resulting materials can be predicted computationally, allowing in silico materials design strategies. The constituent pore modules are synthesized in high yields on gram scales in a one-step reaction. Assembly of the porous co-crystals is as simple as combining the modules in solution and removing the solvent. In some cases, the chiral recognition between modules can be exploited to produce porous organic nanoparticles. We show that the method is valid for four different cage modules and can in principle be generalized in a computationally predictable manner based on a lock-and-key assembly between modules

Sensing and mapping for interactive performance

This paper describes a trans-domain mapping (TDM) framework for translating meaningful activities from one creative domain onto another. The multi-disciplinary framework is designed to facilitate an intuitive and non-intrusive interactive multimedia performance interface that offers the users or performers real-time control of multimedia events using their physical movements. It is intended to be a highly dynamic real-time performance tool, sensing and tracking activities and changes, in order to provide interactive multimedia performances. From a straightforward definition of the TDM framework, this paper reports several implementations and multi-disciplinary collaborative projects using the proposed framework, including a motion and colour-sensitive system, a sensor-based system for triggering musical events, and a distributed multimedia server for audio mapping of a real-time face tracker, and discusses different aspects of mapping strategies in their context. Plausible future directions, developments and exploration with the proposed framework, including stage augmenta tion, virtual and augmented reality, which involve sensing and mapping of physical and non-physical changes onto multimedia control events, are discussed

Realizing live sequence charts in SystemVerilog.

The design of an embedded control system starts with an investigation of properties and behaviors of the process evolving within its environment, and an analysis of the requirement for its safety performance. In early stages, system requirements are often specified as scenarios of behavior using sequence charts for different use cases. This specification must be precise, intuitive and expressive enough to capture different aspects of embedded control systems. As a rather rich and useful extension to the classical message sequence charts, live sequence charts (LSC), which provide a rich collection of constructs for specifying both possible and mandatory behaviors, are very suitable for designing an embedded control system. However, it is not a trivial task to realize a high-level design model in executable program codes effectively and correctly. This paper tackles the challenging task by providing a mapping algorithm to automatically synthesize SystemVerilog programs from given LSC specifications

Towards musical interaction : 'Schismatics' for e-violin and computer.

This paper discusses the evolution of the Max/MSP patch used in schismatics (2007, rev. 2010) for electric violin (Violectra) and computer, by composer Sam Hayden in collaboration with violinist Mieko Kanno. schismatics involves a standard performance paradigm of a fixed notated part for the e-violin with sonically unfixed live computer processing. Hayden was unsatisfied with the early version of the piece: the use of attack detection on the live e-violin playing to trigger stochastic processes led to an essentially reactive behaviour in the computer, resulting in a somewhat predictable one-toone sonic relationship between them. It demonstrated little internal relationship between the two beyond an initial e-violin ‘action’ causing a computer ‘event’. The revisions in 2010, enabled by an AHRC Practice-Led research award, aimed to achieve 1) a more interactive performance situation and 2) a subtler and more ‘musical’ relationship between live and processed sounds. This was realised through the introduction of sound analysis objects, in particular machine listening and learning techniques developed by Nick Collins. One aspect of the programming was the mapping of analysis data to synthesis parameters, enabling the computer transformations of the e-violin to be directly related to Kanno’s interpretation of the piece in performance

Strategy Synthesis for Autonomous Agents Using PRISM

We present probabilistic models for autonomous agent search and retrieve missions derived from Simulink models for an Unmanned Aerial Vehicle (UAV) and show how probabilistic model checking and the probabilistic model checker PRISM can be used for optimal controller generation. We introduce a sequence of scenarios relevant to UAVs and other autonomous agents such as underwater and ground vehicles. For each scenario we demonstrate how it can be modelled using the PRISM language, give model checking statistics and present the synthesised optimal controllers. We conclude with a discussion of the limitations when using probabilistic model checking and PRISM in this context and what steps can be taken to overcome them. In addition, we consider how the controllers can be returned to the UAV and adapted for use on larger search areas