568 research outputs found

    COST Action IC 1402 ArVI: Runtime Verification Beyond Monitoring -- Activity Report of Working Group 1

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    This report presents the activities of the first working group of the COST Action ArVI, Runtime Verification beyond Monitoring. The report aims to provide an overview of some of the major core aspects involved in Runtime Verification. Runtime Verification is the field of research dedicated to the analysis of system executions. It is often seen as a discipline that studies how a system run satisfies or violates correctness properties. The report exposes a taxonomy of Runtime Verification (RV) presenting the terminology involved with the main concepts of the field. The report also develops the concept of instrumentation, the various ways to instrument systems, and the fundamental role of instrumentation in designing an RV framework. We also discuss how RV interplays with other verification techniques such as model-checking, deductive verification, model learning, testing, and runtime assertion checking. Finally, we propose challenges in monitoring quantitative and statistical data beyond detecting property violation

    Modelling and analysing user views of telecommunications services

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    User views of calls are modelled by behaviour trees, which are synchronised to form a network of users. High level presentations of the models are given using process algebra and an explicit theory of features, including precedences. These precedences abstractly encapsulate the possible state spaces which result from different combinations of features. The high level presentation supports incremental development of features and testing and experimentation through animation. Interactions which are not detected during the experimentation phase may be found through static analysis of the high level presentation, through dynamic analysis of the under-lying low level transition system, and through verification of temporal properties through model-checking. In each case, interactions are resolved through manipulation of the feature precedences

    OmniLRS: A Photorealistic Simulator for Lunar Robotics

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    Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues remains the evaluation of said algorithms. With the regained interest in lunar exploration, there is also a demand for quality simulators that will enable the development of lunar robots. % In this paper, we explain how we built a Lunar simulator based on Isaac Sim, Nvidia's robotic simulator. In this paper, we propose Omniverse Lunar Robotic-Sim (OmniLRS) that is a photorealistic Lunar simulator based on Nvidia's robotic simulator. This simulation provides fast procedural environment generation, multi-robot capabilities, along with synthetic data pipeline for machine-learning applications. It comes with ROS1 and ROS2 bindings to control not only the robots, but also the environments. This work also performs sim-to-real rock instance segmentation to show the effectiveness of our simulator for image-based perception. Trained on our synthetic data, a yolov8 model achieves performance close to a model trained on real-world data, with 5% performance gap. When finetuned with real data, the model achieves 14% higher average precision than the model trained on real-world data, demonstrating our simulator's photorealism.% to realize sim-to-real. The code is fully open-source, accessible here: https://github.com/AntoineRichard/LunarSim, and comes with demonstrations.Comment: 7 pages, 4 figure

    Secretin interactions in the type II secretion system

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    PhDThe type II secretion system (T2SS) is the major terminal branch of the general secretory pathway. It is composed of 12-15 proteins, most in multiple copies, and spans the inner and outer membranes of Gram-negative bacteria. The T2SS secretin subunits form a large dodecameric torus-like structure in the outer membrane. The secretin is the only essential component in the outer membrane and secreted proteins and virulence factors pass through the pore in the toroidal secretin dodecamer and out into the environment. The interaction between the secretin and its partners plays a key role in regulation of the T2SS. The interaction between the so-called homology region of the innermembrane protein GspC (GspC-HR) and secretin provides the structural and functional integrity of the secretion machinery across the two cell membranes. The interaction between secretin and its pilotin translocates the secretin subunits to the outer membrane. In this Thesis, the interactions between secretin and its partners are studied at molecular level. The GspC-HR structure is solved using NMR spectroscopy. Its interaction with secretin (GspD) is elucidated using several biochemical and biophysical approaches and a model of the complex is proposed. Also, the interaction between secretin (GspD) and pilotin (GspS) is further charicterisied. An 18 residues secretin sequence is identified as responsible for interacting with pilotin. Upon binding to the pilotin, the unstructured secretin forms a helical structure.MRC NMR centre (NIMR), Medical Research CouncilNational Institute for Medical Research (NIMR) N.M.R. Centr

    Mosaic narrative a poetics of cinematic new media narrative

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    This thesis proposes the Poetics of Mosaic Narrative as a tool for theorising the creation and telling of cinematic stories in a digital environment. As such the Poetics of Mosaic Narrative is designed to assist creators of new media narrative to design dramatically compelling screen based stories by drawing from established theories of cinema and emerging theories of new media. In doing so it validates the crucial element of cinematic storytelling in the digital medium, which due to its fragmentary, variable and re-combinatory nature, affords the opportunity for audience interaction. The Poetics of Mosaic Narrative re-asserts the dramatic and cinematic nature of narrative in new media by drawing upon the dramatic theory of Aristotle’s Poetics, the cinematic theories of the 1920s Russian Film Theorists and contemporary Neo-Formalists, the narrative theories of the 1960s French Structuralists, and the scriptwriting theories of contemporary cinema. In particular it focuses on the theory and practice of the prominent new media theorist, Lev Manovich, as a means of investigating and creating a practical poetics. The key element of the Poetics of Mosaic Narrative is the expansion of the previously forgotten and undeveloped Russian Formalist concept of cinematurgy which is vital to the successful development of new media storytelling theory and practice. This concept, as originally proposed but not elaborated by Kazansky, encompasses the notion of the creation of cinematic new media narrative as a mosaic – integrally driven by the narrative systems of plot, as well as the cinematic systems of visual style created by the techniques of cinema- montage, cinematography and mise-en-scene

    Lola Ridge : poet and renegade modernist

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    This thesis examines the poetry of Lola Ridge as a form of alternative Modernism. Poet, editor, anarchist, Lola Ridge is largely an unknown identity in Modernist discourses. Primarily recognised as a social justice poet, her work has been viewed through a traditional Modernist lens and excluded to the periphery as ‘sentimental’. This thesis argues that Ridge personally and professionally exceeds these categories. She modelled a practice of engagement in her personal life by actively participating in rallies and protests against injustice, and living in poverty in solidarity with the poor, giving her work an authenticity worth investigating. Her poetry provides a literary montage of underclass life in an industrial capitalist society and operates as a social critique of ideals in practice, measuring progress through the effect of social and public policy on the body. I contend that her work represents an alternative Modernism which would include an exposition of power relations at work in society and on the body. Chapter One contextualises Ridge’s life and work within the domain of High Modernism and the divide between American and European versions, establishing the grounds for her marginalisation. Chapter Two contextualises both the sentimental and Georgian poetics, laying the foundation for analysing Ridge’s poetry. Chapter Three demonstrates through close reading of selected poems how Ridge’s aesthetic fuses the sentimental concern for the body with a style that resonates with Georgian trench practice to implicate the bystander - and thus the reader - as complicit in the suffering of the others. I argue that these practices establish Ridge as a renegade Modernist, strategically integrating a range of forms to engage the reader in an ethical conversation, to confront their own complicity, an ethical practice she sought to model throughout her life

    Synthesis and Validation of Vision Based Spacecraft Navigation

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    Field Testing of Utility Robots for Lunar Surface Operations

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    Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program is to establish significant infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform tasks which cannot, or should not, be performed by crew alone. In this paper, we summarize our work to develop "utility robots" for lunar surface operations, present results and lessons learned from field testing, and discuss directions for future research
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