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

A novel active quenching circuit for single photon detection with Geiger mode avalanche photodiodes

In this paper we present a novel construction of an active quenching circuit intended for single photon detection. For purpose of evaluation, we have combined this circuit with a standard avalanche photodiode C30902S to form a single photon detector. A series of measurements, presented here, show that this single photon detector has a dead time of less than 40ns, maximum random counting frequency of over 14MHz, low after pulsing, detection efficiency of over 20% and a good noise performance. This simple and robust active quenching circuit can be built from of-the-shelf electronic components and needs no complicated adjustments.Comment: 9 pages, 13 figures, 15 reference

The potential of programmable logic in the middle: cache bleaching

Consolidating hard real-time systems onto modern multi-core Systems-on-Chip (SoC) is an open challenge. The extensive sharing of hardware resources at the memory hierarchy raises important unpredictability concerns. The problem is exacerbated as more computationally demanding workload is expected to be handled with real-time guarantees in next-generation Cyber-Physical Systems (CPS). A large body of works has approached the problem by proposing novel hardware re-designs, and by proposing software-only solutions to mitigate performance interference. Strong from the observation that unpredictability arises from a lack of fine-grained control over the behavior of shared hardware components, we outline a promising new resource management approach. We demonstrate that it is possible to introduce Programmable Logic In-the-Middle (PLIM) between a traditional multi-core processor and main memory. This provides the unique capability of manipulating individual memory transactions. We propose a proof-of-concept system implementation of PLIM modules on a commercial multi-core SoC. The PLIM approach is then leveraged to solve long-standing issues with cache coloring. Thanks to PLIM, colored sparse addresses can be re-compacted in main memory. This is the base principle behind the technique we call Cache Bleaching. We evaluate our design on real applications and propose hypervisor-level adaptations to showcase the potential of the PLIM approach.Accepted manuscrip

Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

A Scalable Correlator Architecture Based on Modular FPGA Hardware, Reuseable Gateware, and Data Packetization

A new generation of radio telescopes is achieving unprecedented levels of sensitivity and resolution, as well as increased agility and field-of-view, by employing high-performance digital signal processing hardware to phase and correlate large numbers of antennas. The computational demands of these imaging systems scale in proportion to BMN^2, where B is the signal bandwidth, M is the number of independent beams, and N is the number of antennas. The specifications of many new arrays lead to demands in excess of tens of PetaOps per second. To meet this challenge, we have developed a general purpose correlator architecture using standard 10-Gbit Ethernet switches to pass data between flexible hardware modules containing Field Programmable Gate Array (FPGA) chips. These chips are programmed using open-source signal processing libraries we have developed to be flexible, scalable, and chip-independent. This work reduces the time and cost of implementing a wide range of signal processing systems, with correlators foremost among them,and facilitates upgrading to new generations of processing technology. We present several correlator deployments, including a 16-antenna, 200-MHz bandwidth, 4-bit, full Stokes parameter application deployed on the Precision Array for Probing the Epoch of Reionization.Comment: Accepted to Publications of the Astronomy Society of the Pacific. 31 pages. v2: corrected typo, v3: corrected Fig. 1