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

Agents in Bioinformatics

The scope of the Technical Forum Group (TFG) on Agents in Bioinformatics (BIOAGENTS) was to inspire collaboration between the agent and bioinformatics communities with the aim of creating an opportunity to propose a different (agent-based) approach to the development of computational frameworks both for data analysis in bioinformatics and for system modelling in computational biology. During the day, the participants examined the future of research on agents in bioinformatics primarily through 12 invited talks selected to cover the most relevant topics. From the discussions, it became clear that there are many perspectives to the field, ranging from bio-conceptual languages for agent-based simulation, to the definition of bio-ontology-based declarative languages for use by information agents, and to the use of Grid agents, each of which requires further exploration. The interactions between participants encouraged the development of applications that describe a way of creating agent-based simulation models of biological systems, starting from an hypothesis and inferring new knowledge (or relations) by mining and analysing the huge amount of public biological data. In this report we summarise and reflect on the presentations and discussions

Virtual Communication Stack: Towards Building Integrated Simulator of Mobile Ad Hoc Network-based Infrastructure for Disaster Response Scenarios

Responses to disastrous events are a challenging problem, because of possible damages on communication infrastructures. For instance, after a natural disaster, infrastructures might be entirely destroyed. Different network paradigms were proposed in the literature in order to deploy adhoc network, and allow dealing with the lack of communications. However, all these solutions focus only on the performance of the network itself, without taking into account the specificities and heterogeneity of the components which use it. This comes from the difficulty to integrate models with different levels of abstraction. Consequently, verification and validation of adhoc protocols cannot guarantee that the different systems will work as expected in operational conditions. However, the DEVS theory provides some mechanisms to allow integration of models with different natures. This paper proposes an integrated simulation architecture based on DEVS which improves the accuracy of ad hoc infrastructure simulators in the case of disaster response scenarios.Comment: Preprint. Unpublishe

Analysis of a Splitting Estimator for Rare Event Probabilities in Jackson Networks

We consider a standard splitting algorithm for the rare-event simulation of overflow probabilities in any subset of stations in a Jackson network at level n, starting at a fixed initial position. It was shown in DeanDup09 that a subsolution to the Isaacs equation guarantees that a subexponential number of function evaluations (in n) suffice to estimate such overflow probabilities within a given relative accuracy. Our analysis here shows that in fact O(n^{2{\beta}+1}) function evaluations suffice to achieve a given relative precision, where {\beta} is the number of bottleneck stations in the network. This is the first rigorous analysis that allows to favorably compare splitting against directly computing the overflow probability of interest, which can be evaluated by solving a linear system of equations with O(n^{d}) variables.Comment: 23 page

StochKit-FF: Efficient Systems Biology on Multicore Architectures

The stochastic modelling of biological systems is an informative, and in some cases, very adequate technique, which may however result in being more expensive than other modelling approaches, such as differential equations. We present StochKit-FF, a parallel version of StochKit, a reference toolkit for stochastic simulations. StochKit-FF is based on the FastFlow programming toolkit for multicores and exploits the novel concept of selective memory. We experiment StochKit-FF on a model of HIV infection dynamics, with the aim of extracting information from efficiently run experiments, here in terms of average and variance and, on a longer term, of more structured data.Comment: 14 pages + cover pag

A Compositional Approach for Schedulability Analysis of Distributed Avionics Systems

This work presents a compositional approach for schedulability analysis of Distributed Integrated Modular Avionics (DIMA) systems that consist of spatially distributed ARINC-653 modules connected by a unified AFDX network. We model a DIMA system as a set of stopwatch automata in UPPAAL to verify its schedulability by model checking. However, direct model checking is infeasible due to the large state space. Therefore, we introduce the compositional analysis that checks each partition including its communication environment individually. Based on a notion of message interfaces, a number of message sender automata are built to model the environment for a partition. We define a timed selection simulation relation, which supports the construction of composite message interfaces. By using assume-guarantee reasoning, we ensure that each task meets the deadline and that communication constraints are also fulfilled globally. The approach is applied to the analysis of a concrete DIMA system.Comment: In Proceedings MeTRiD 2018, arXiv:1806.09330. arXiv admin note: text overlap with arXiv:1803.1105

Generalized Network Psychometrics: Combining Network and Latent Variable Models

We introduce the network model as a formal psychometric model, conceptualizing the covariance between psychometric indicators as resulting from pairwise interactions between observable variables in a network structure. This contrasts with standard psychometric models, in which the covariance between test items arises from the influence of one or more common latent variables. Here, we present two generalizations of the network model that encompass latent variable structures, establishing network modeling as parts of the more general framework of Structural Equation Modeling (SEM). In the first generalization, we model the covariance structure of latent variables as a network. We term this framework Latent Network Modeling (LNM) and show that, with LNM, a unique structure of conditional independence relationships between latent variables can be obtained in an explorative manner. In the second generalization, the residual variance-covariance structure of indicators is modeled as a network. We term this generalization Residual Network Modeling (RNM) and show that, within this framework, identifiable models can be obtained in which local independence is structurally violated. These generalizations allow for a general modeling framework that can be used to fit, and compare, SEM models, network models, and the RNM and LNM generalizations. This methodology has been implemented in the free-to-use software package lvnet, which contains confirmatory model testing as well as two exploratory search algorithms: stepwise search algorithms for low-dimensional datasets and penalized maximum likelihood estimation for larger datasets. We show in simulation studies that these search algorithms performs adequately in identifying the structure of the relevant residual or latent networks. We further demonstrate the utility of these generalizations in an empirical example on a personality inventory dataset.Comment: Published in Psychometrik