On the Notion of Abstract Platform in MDA Development

Although platform-independence is a central property in MDA models, the study of platform-independence has been largely overlooked in MDA. As a consequence, there is a lack of guidelines to select abstraction criteria and modelling concepts for platform-independent design. In addition, there is little methodological support to distinguish between platform-independent and platform-specific concerns, which could be detrimental to the beneficial exploitation of the PIM-PSM separation-of-concerns adopted by MDA. This work is an attempt towards clarifying the notion of platform-independent modelling in MDA development. We argue that each level of platform-independence must be accompanied by the identification of an abstract platform. An abstract platform is determined by the platform characteristics that are relevant for applications at a certain level of platform-independence, and must be established by balancing various design goals. We present some methodological principles for abstract platform design, which forms a basis for defining requirements for design languages intended to support platform-independent design. Since our methodological framework is based on the notion of abstract platform, we pay particular attention to the definition of abstract platforms and the language requirements to specify abstract platforms. We discuss how the concept of abstract platform relates to UML

Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Asynchronous Reconfiguration with Byzantine Failures

Replicated services are inherently vulnerable to failures and security breaches. In a long-running system, it is, therefore, indispensable to maintain a reconfiguration mechanism that would replace faulty replicas with correct ones. An important challenge is to enable reconfiguration without affecting the availability and consistency of the replicated data: the clients should be able to get correct service even when the set of service replicas is being updated. In this paper, we address the problem of reconfiguration in the presence of Byzantine failures: faulty replicas or clients may arbitrarily deviate from their expected behavior. We describe a generic technique for building asynchronous and Byzantine fault-tolerant reconfigurable objects: clients can manipulate the object data and issue reconfiguration calls without reaching consensus on the current configuration. With the help of forward-secure digital signatures, our solution makes sure that superseded and possibly compromised configurations are harmless, that slow clients cannot be fooled into reading stale data, and that Byzantine clients cannot cause a denial of service by flooding the system with reconfiguration requests. Our approach is modular and based on dynamic lattice agreement abstraction, and we discuss how to extend it to enable Byzantine fault-tolerant implementations of a large class of reconfigurable replicated services

A Stochastic Approach to Shortcut Bridging in Programmable Matter

In a self-organizing particle system, an abstraction of programmable matter, simple computational elements called particles with limited memory and communication self-organize to solve system-wide problems of movement, coordination, and configuration. In this paper, we consider a stochastic, distributed, local, asynchronous algorithm for "shortcut bridging", in which particles self-assemble bridges over gaps that simultaneously balance minimizing the length and cost of the bridge. Army ants of the genus Eciton have been observed exhibiting a similar behavior in their foraging trails, dynamically adjusting their bridges to satisfy an efficiency trade-off using local interactions. Using techniques from Markov chain analysis, we rigorously analyze our algorithm, show it achieves a near-optimal balance between the competing factors of path length and bridge cost, and prove that it exhibits a dependence on the angle of the gap being "shortcut" similar to that of the ant bridges. We also present simulation results that qualitatively compare our algorithm with the army ant bridging behavior. Our work gives a plausible explanation of how convergence to globally optimal configurations can be achieved via local interactions by simple organisms (e.g., ants) with some limited computational power and access to random bits. The proposed algorithm also demonstrates the robustness of the stochastic approach to algorithms for programmable matter, as it is a surprisingly simple extension of our previous stochastic algorithm for compression.Comment: Published in Proc. of DNA23: DNA Computing and Molecular Programming - 23rd International Conference, 2017. An updated journal version will appear in the DNA23 Special Issue of Natural Computin

Data Conversion Within Energy Constrained Environments

Within scientific research, engineering, and consumer electronics, there is a multitude of new discrete sensor-interfaced devices. Maintaining high accuracy in signal quantization while staying within the strict power-budget of these devices is a very challenging problem. Traditional paths to solving this problem include researching more energy-efficient digital topologies as well as digital scaling.;This work offers an alternative path to lower-energy expenditure in the quantization stage --- content-dependent sampling of a signal. Instead of sampling at a constant rate, this work explores techniques which allow sampling based upon features of the signal itself through the use of application-dependent analog processing. This work presents an asynchronous sampling paradigm, based off the use of floating-gate-enabled analog circuitry. The basis of this work is developed through the mathematical models necessary for asynchronous sampling, as well the SPICE-compatible models necessary for simulating floating-gate enabled analog circuitry. These base techniques and circuitry are then extended to systems and applications utilizing novel analog-to-digital converter topologies capable of leveraging the non-constant sampling rates for significant sample and power savings