Synthesis of Minimal Error Control Software

Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled system has certain properties, such as asymptotic convergence to an equilibrium point, while optimizing some performance criteria. However, owing to quantization errors arising from the use of fixed-point arithmetic, the implementation of this control law can only guarantee practical stability: under the actions of the implementation, the trajectories of the controlled system converge to a bounded set around the equilibrium point, and the size of the bounded set is proportional to the error in the implementation. The problem of verifying whether a controller implementation achieves practical stability for a given bounded set has been studied before. In this paper, we change the emphasis from verification to automatic synthesis. Using synthesis, the need for formal verification can be considerably reduced thereby reducing the design time as well as design cost of embedded control software. We give a methodology and a tool to synthesize embedded control software that is Pareto optimal w.r.t. both performance criteria and practical stability regions. Our technique is a combination of static analysis to estimate quantization errors for specific controller implementations and stochastic local search over the space of possible controllers using particle swarm optimization. The effectiveness of our technique is illustrated using examples of various standard control systems: in most examples, we achieve controllers with close LQR-LQG performance but with implementation errors, hence regions of practical stability, several times as small.Comment: 18 pages, 2 figure

Sound and Automated Synthesis of Digital Stabilizing Controllers for Continuous Plants

Modern control is implemented with digital microcontrollers, embedded within a dynamical plant that represents physical components. We present a new algorithm based on counter-example guided inductive synthesis that automates the design of digital controllers that are correct by construction. The synthesis result is sound with respect to the complete range of approximations, including time discretization, quantization effects, and finite-precision arithmetic and its rounding errors. We have implemented our new algorithm in a tool called DSSynth, and are able to automatically generate stable controllers for a set of intricate plant models taken from the literature within minutes.Comment: 10 page

Model predictive control techniques for hybrid systems

This paper describes the main issues encountered when applying model predictive control to hybrid processes. Hybrid model predictive control (HMPC) is a research field non-fully developed with many open challenges. The paper describes some of the techniques proposed by the research community to overcome the main problems encountered. Issues related to the stability and the solution of the optimization problem are also discussed. The paper ends by describing the results of a benchmark exercise in which several HMPC schemes were applied to a solar air conditioning plant.Ministerio de Eduación y Ciencia DPI2007-66718-C04-01Ministerio de Eduación y Ciencia DPI2008-0581

Synthesis of a simple self-stabilizing system

With the increasing importance of distributed systems as a computing paradigm, a systematic approach to their design is needed. Although the area of formal verification has made enormous advances towards this goal, the resulting functionalities are limited to detecting problems in a particular design. By means of a classical example, we illustrate a simple template-based approach to computer-aided design of distributed systems based on leveraging the well-known technique of bounded model checking to the synthesis setting.Comment: In Proceedings SYNT 2014, arXiv:1407.493

The Flight Telerobotic Servicer (FTS) NASA's first operational robotic system

NASA has completed the preliminary definition phase of the Flight Telerobotic Servicer (FTS) and is now preparing to begin the detailed design and fabrication phase. The FTS will be designed and built by Martin Marietta Astronautics Group in Denver, CO, for the Goddard Space Flight Center, in support of the Space Station Freedom Program. The design concepts for the FTS are discussed, as well as operational scenarios for the assembly, maintenance, servicing and inspection tasks which are being considered for the FTS. The upcoming Development Test Flight (DTF-1) is the first of two shuttle test flights to test FTS operations in the environment of space and to demonstrate the FTS capabilities in performing tasks for Space Station Freedom. Operational planning for DTF-1 is discussed as well as development plans for the operational support of the FTS on the space station

Detecting differential usage of exons from RNA-Seq data

RNA-Seq is a powerful tool for the study of alternative splicing and other forms of alternative isoform expression. Understanding the regulation of these processes requires comparisons between treatments, tissues or conditions. For the analysis of such experiments, we present _DEXSeq_, a statistical method to test for differential exon usage in RNA-Seq data. _DEXSeq_ employs generalized linear models and offers good detection power and reliable control of false discoveries by taking biological variation into account. An implementation is available as an R/Bioconductor package

Kronos: a workflow assembler for genome analytics and informatics.

BackgroundThe field of next-generation sequencing informatics has matured to a point where algorithmic advances in sequence alignment and individual feature detection methods have stabilized. Practical and robust implementation of complex analytical workflows (where such tools are structured into "best practices" for automated analysis of next-generation sequencing datasets) still requires significant programming investment and expertise.ResultsWe present Kronos, a software platform for facilitating the development and execution of modular, auditable, and distributable bioinformatics workflows. Kronos obviates the need for explicit coding of workflows by compiling a text configuration file into executable Python applications. Making analysis modules would still require programming. The framework of each workflow includes a run manager to execute the encoded workflows locally (or on a cluster or cloud), parallelize tasks, and log all runtime events. The resulting workflows are highly modular and configurable by construction, facilitating flexible and extensible meta-applications that can be modified easily through configuration file editing. The workflows are fully encoded for ease of distribution and can be instantiated on external systems, a step toward reproducible research and comparative analyses. We introduce a framework for building Kronos components that function as shareable, modular nodes in Kronos workflows.ConclusionsThe Kronos platform provides a standard framework for developers to implement custom tools, reuse existing tools, and contribute to the community at large. Kronos is shipped with both Docker and Amazon Web Services Machine Images. It is free, open source, and available through the Python Package Index and at https://github.com/jtaghiyar/kronos