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

Models of collective cell motion for cell populations with different aspect ratio: diffusion, proliferation & travelling waves

Continuum, partial differential equation models are often used to describe the collective motion of cell populations, with various types of motility represented by the choice of diffusion coefficient, and cell proliferation captured by the source terms. Previously, the choice of diffusion coefficient has been largely arbitrary, with the decision to choose a particular linear or nonlinear form generally based on calibration arguments rather than making any physical connection with the underlying individual-level properties of the cell motility mechanism. In this work we provide a new link between individual-level models, which account for important cell properties such as varying cell shape and volume exclusion, and population-level partial differential equation models. We work in an exclusion process framework, considering aligned, elongated cells that may occupy more than one lattice site, in order to represent populations of agents with different sizes. Three different idealisations of the individual-level mechanism are proposed, and these are connected to three different partial differential equations, each with a different diffusion coefficient; one linear, one nonlinear and degenerate and one nonlinear and nondegenerate. We test the ability of these three models to predict the population-level response of a cell spreading problem for both proliferative and nonproliferative cases. We also explore the potential of our models to predict long time travelling wave invasion rates and extend our results to two-dimensional spreading and invasion. Our results show that each model can accurately predict density data for nonproliferative systems, but that only one does so for proliferative systems. Hence great care must be taken to predict density data with varying cell shape

Towards the Development of a Simulator for Investigating the Impact of People Management Practices on Retail Performance

Often models for understanding the impact of management practices on retail performance are developed under the assumption of stability, equilibrium and linearity, whereas retail operations are considered in reality to be dynamic, non-linear and complex. Alternatively, discrete event and agent-based modelling are approaches that allow the development of simulation models of heterogeneous non-equilibrium systems for testing out different scenarios. When developing simulation models one has to abstract and simplify from the real world, which means that one has to try and capture the 'essence' of the system required for developing a representation of the mechanisms that drive the progression in the real system. Simulation models can be developed at different levels of abstraction. To know the appropriate level of abstraction for a specific application is often more of an art than a science. We have developed a retail branch simulation model to investigate which level of model accuracy is required for such a model to obtain meaningful results for practitioners.Comment: 24 pages, 7 figures, 6 tables, Journal of Simulation 201