An Open-Source Simulator for Cognitive Robotics Research: The Prototype of the iCub Humanoid Robot Simulator

This paper presents the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the “RobotCub” project, a collaborative European project aiming at developing a new open-source cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the European project “ITALK” on the integration and transfer of action and language knowledge in cognitive robots. This is available open-source to all researchers interested in cognitive robotics experiments with the iCub humanoid platform

On Agent-Based Software Engineering

Agent-based computing represents an exciting new synthesis both for Artificial Intelligence (AI) and, more generally, Computer Science. It has the potential to significantly improve the theory and the practice of modeling, designing, and implementing computer systems. Yet, to date, there has been little systematic analysis of what makes the agent-based approach such an appealing and powerful computational model. Moreover, even less effort has been devoted to discussing the inherent disadvantages that stem from adopting an agent-oriented view. Here both sets of issues are explored. The standpoint of this analysis is the role of agent-based software in solving complex, real-world problems. In particular, it will be argued that the development of robust and scalable software systems requires autonomous agents that can complete their objectives while situated in a dynamic and uncertain environment, that can engage in rich, high-level social interactions, and that can operate within flexible organisational structures

AO-OpenCom: an AO-Middleware architecture supporting flexible dynamic reconfiguration

Middleware has emerged as a key technology in the construction of distributed systems. As a consequence, middleware is increasingly required to be highly modular and configurable, to support separation of concerns between services, and, crucially, to support dynamic reconfiguration: i.e. to be capable of being changed while running. Aspect-oriented middleware is a promising technology for the realisation of distributed reconfiguration in distributed systems. In this paper we propose an aspect-oriented middleware platform called AO-OpenCom that builds AO-based reconfiguration on top of a dynamic component approach to middleware system composition. The goal is to support extremely flexible dynamic reconfiguration that can be applied at all levels of the system and uniformly across the distributed environment. We evaluate our platform by the capability in meeting flexible reconfiguration and the impact of these overheads

Quantum Picturalism

The quantum mechanical formalism doesn't support our intuition, nor does it elucidate the key concepts that govern the behaviour of the entities that are subject to the laws of quantum physics. The arrays of complex numbers are kin to the arrays of 0s and 1s of the early days of computer programming practice. In this review we present steps towards a diagrammatic `high-level' alternative for the Hilbert space formalism, one which appeals to our intuition. It allows for intuitive reasoning about interacting quantum systems, and trivialises many otherwise involved and tedious computations. It clearly exposes limitations such as the no-cloning theorem, and phenomena such as quantum teleportation. As a logic, it supports `automation'. It allows for a wider variety of underlying theories, and can be easily modified, having the potential to provide the required step-stone towards a deeper conceptual understanding of quantum theory, as well as its unification with other physical theories. Specific applications discussed here are purely diagrammatic proofs of several quantum computational schemes, as well as an analysis of the structural origin of quantum non-locality. The underlying mathematical foundation of this high-level diagrammatic formalism relies on so-called monoidal categories, a product of a fairly recent development in mathematics. These monoidal categories do not only provide a natural foundation for physical theories, but also for proof theory, logic, programming languages, biology, cooking, ... The challenge is to discover the necessary additional pieces of structure that allow us to predict genuine quantum phenomena.Comment: Commissioned paper for Contemporary Physics, 31 pages, 84 pictures, some colo

Towards a Formal Framework for Mobile, Service-Oriented Sensor-Actuator Networks

Service-oriented sensor-actuator networks (SOSANETs) are deployed in health-critical applications like patient monitoring and have to fulfill strong safety requirements. However, a framework for the rigorous formal modeling and analysis of SOSANETs does not exist. In particular, there is currently no support for the verification of correct network behavior after node failure or loss/addition of communication links. To overcome this problem, we propose a formal framework for SOSANETs. The main idea is to base our framework on the \pi-calculus, a formally defined, compositional and well-established formalism. We choose KLAIM, an existing formal language based on the \pi-calculus as the foundation for our framework. With that, we are able to formally model SOSANETs with possible topology changes and network failures. This provides the basis for our future work on prediction, analysis and verification of the network behavior of these systems. Furthermore, we illustrate the real-life applicability of this approach by modeling and extending a use case scenario from the medical domain.Comment: In Proceedings FESCA 2013, arXiv:1302.478