Modelling and analyzing adaptive self-assembling strategies with Maude

Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA

Intelligent Embedded Software: New Perspectives and Challenges

Intelligent embedded systems (IES) represent a novel and promising generation of embedded systems (ES). IES have the capacity of reasoning about their external environments and adapt their behavior accordingly. Such systems are situated in the intersection of two different branches that are the embedded computing and the intelligent computing. On the other hand, intelligent embedded software (IESo) is becoming a large part of the engineering cost of intelligent embedded systems. IESo can include some artificial intelligence (AI)-based systems such as expert systems, neural networks and other sophisticated artificial intelligence (AI) models to guarantee some important characteristics such as self-learning, self-optimizing and self-repairing. Despite the widespread of such systems, some design challenging issues are arising. Designing a resource-constrained software and at the same time intelligent is not a trivial task especially in a real-time context. To deal with this dilemma, embedded system researchers have profited from the progress in semiconductor technology to develop specific hardware to support well AI models and render the integration of AI with the embedded world a reality

Modelling and analyzing adaptive self-assembling strategies with Maude

Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA

On the Fundamentals of Stochastic Spatial Modeling and Analysis of Wireless Networks and its Impact to Channel Losses

With the rapid evolution of wireless networking, it becomes vital to ensure transmission reliability, enhanced connectivity, and efficient resource utilization. One possible pathway for gaining insight into these critical requirements would be to explore the spatial geometry of the network. However, tractably characterizing the actual position of nodes for large wireless networks (LWNs) is technically unfeasible. Thus, stochastical spatial modeling is commonly considered for emulating the random pattern of mobile users. As a result, the concept of random geometry is gaining attention in the field of cellular systems in order to analytically extract hidden features and properties useful for assessing the performance of networks. Meanwhile, the large-scale fading between interacting nodes is the most fundamental element in radio communications, responsible for weakening the propagation, and thus worsening the service quality. Given the importance of channel losses in general, and the inevitability of random networks in real-life situations, it was then natural to merge these two paradigms together in order to obtain an improved stochastical model for the large-scale fading. Therefore, in exact closed-form notation, we generically derived the large-scale fading distributions between a reference base-station and an arbitrary node for uni-cellular (UCN), multi-cellular (MCN), and Gaussian random network models. In fact, we for the first time provided explicit formulations that considered at once: the lattice profile, the users’ random geometry, the spatial intensity, the effect of the far-field phenomenon, the path-loss behavior, and the stochastic impact of channel scatters. Overall, the results can be useful for analyzing and designing LWNs through the evaluation of performance indicators. Moreover, we conceptualized a straightforward and flexible approach for random spatial inhomogeneity by proposing the area-specific deployment (ASD) principle, which takes into account the clustering tendency of users. In fact, the ASD method has the advantage of achieving a more realistic deployment based on limited planning inputs, while still preserving the stochastic character of users’ position. We then applied this inhomogeneous technique to different circumstances, and thus developed three spatial-level network simulator algorithms for: controlled/uncontrolled UCN, and MCN deployments

Decentralized UAV guidance using modified boid algorithms

Decentralized guidance of Unoccupied Air Vehicles (UAVs) is a very challenging problem. Such technology can lead to improved safety, reduced cost, and improved mission efficiency. Only a few ideas for achieving decentralized guidance exist, the most effective being the boid algorithm. Boid algorithms are rule-based guidance methods derived from observations of animal swarms. In this paper, boid rules are used to autonomously control a group of UAVs in high-level transit simulations. This paper differs from previous work in that, as an alternative to using exponentially scaled behavior weightings, the weightings are computed off-line and scheduled according to a contingency management system. The motivation for this technique is to reduce the amount of on-line computation required by the flight system. Many modifications to the basic boid algorithm are required in order to achieve a flightworthy design. These modifications include the ability to define flight areas, limit turning maneuvers in accordance with the aircraft dynamics, and produce intelligent waypoint paths. The use of a contingency management system is also a major modification to the boid algorithm. A Simple Genetic Algorithm is used to partially optimize the behavior weightings of the boid algorithm. While a full optimization of all contingencies is not performed due to computation requirements, the framework for such a process is developed. Wolfram\u27s Matlab software is used to develop and simulate the boid guidance algorithm. The algorithm is interfaced with Cloud Cap Technology\u27s Piccolo autopilot system for Hardware-in-the-Loop simulations. These high-fidelity simulations prove this technology is both feasible and practical. They also prove the boid guidance system developed herein is suitable for comprehensive flight testing

COUNTER-UXS ENERGY AND OPERATIONAL ANALYSIS

At present, there exists a prioritization of identifying novel and innovative approaches to managing the small Unmanned Aircraft Systems (sUAS) threat. The near-future sUAS threat to U.S. forces and infrastructure indicates that current Counter-UAS (C-UAS) capabilities and tactics, techniques, and procedures (TTPs) need to evolve to pace the threat. An alternative approach utilizes a networked squadron of unmanned aerial vehicles (UAVs) designed for sUAS threat interdiction. This approach leverages high performance and Size, Weight, and Power (SWaP) conformance to create less expensive, but more capable, C-UAS devices to augment existing capabilities. This capstone report documents efforts to develop C-UAS technologies to reduce energy consumption and collaterally disruptive signal footprint while maintaining operational effectiveness. This project utilized Model Based System Engineering (MBSE) techniques to explore and assess these technologies within a mission context. A Concept of Operations was developed to provide the C-UAS Operational Concept. Operational analysis led to development of operational scenarios to define the System of Systems (SoS) concept, operating conditions, and required system capabilities. Resource architecture was developed to define the functional behaviors and system performance characteristics for C-UAS technologies. Lastly, a modeling and simulation (M&S) tool was developed to evaluate mission scenarios for C-UAS.Outstanding ThesisCivilian, Department of the NavyCivilian, Department of the NavyCivilian, Department of the NavyCivilian, Department of the NavyCivilian, Department of the NavyApproved for public release. Distribution is unlimited

National freight transport planning: towards a Strategic Planning Extranet Decision Support System (SPEDSS)

This thesis provides a `proof-of-concept' prototype and a design architecture for a Object Oriented (00) database towards the development of a Decision Support System (DSS) for the national freight transport planning problem. Both governments and industry require a Strategic Planning Extranet Decision Support System (SPEDSS) for their effective management of the national Freight Transport Networks (FTN). This thesis addresses the three key problems for the development of a SPEDSS to facilitate national strategic freight planning: 1) scope and scale of data available and required; 2) scope and scale of existing models; and 3) construction of the software. The research approach taken embodies systems thinking and includes the use of: Object Oriented Analysis and Design (OOA/D) for problem encapsulation and database design; artificial neural network (and proposed rule extraction) for knowledge acquisition of the United States FTN data set; and an iterative Object Oriented (00) software design for the development of a `proof-of-concept' prototype. The research findings demonstrate that an 00 approach along with the use of 00 methodologies and technologies coupled with artificial neural networks (ANNs) offers a robust and flexible methodology for the analysis of the FTN problem domain and the design architecture of an Extranet based SPEDSS. The objectives of this research were to: 1) identify and analyse current problems and proposed solutions facing industry and governments in strategic transportation planning; 2) determine the functional requirements of an FTN SPEDSS; 3) perform a feasibility analysis for building a FTN SPEDSS `proof-of-concept' prototype and (00) database design; 4) develop a methodology for a national `internet-enabled' SPEDSS model and database; 5) construct a `proof-of-concept' prototype for a SPEDSS encapsulating identified user requirements; 6) develop a methodology to resolve the issue of the scale of data and data knowledge acquisition which would act as the `intelligence' within a SPDSS; 7) implement the data methodology using Artificial Neural Networks (ANNs) towards the validation of it; and 8) make recommendations for national freight transportation strategic planning and further research required to fulfil the needs of governments and industry. This thesis includes: an 00 database design for encapsulation of the FTN; an `internet-enabled' Dynamic Modelling Methodology (DMM) for the virtual modelling of the FTNs; a Unified Modelling Language (UML) `proof-of-concept' prototype; and conclusions and recommendations for further collaborative research are identified

Activity, context, and plan recognition with computational causal behavior models

Objective of this thesis is to answer the question "how to achieve efficient sensor-based reconstruction of causal structures of human behaviour in order to provide assistance?". To answer this question, the concept of Computational Causal Behaviour Models (CCBMs) is introduced. CCBM allows the specification of human behaviour by means of preconditions and effects and employs Bayesian filtering techniques to reconstruct action sequences from noisy and ambiguous sensor data. Furthermore, a novel approximative inference algorithm – the Marginal Filter – is introduced