24,539 research outputs found
Reactive probabilistic programming
International audienceSynchronous modeling is at the heart of programming languages like Lustre, Esterel, or SCADE used routinely for implementing safety critical control software, e.g., fly-bywire and engine control in planes. However, to date these languages have had limited modern support for modeling uncertainty-probabilistic aspects of the software's environment or behavior-even though modeling uncertainty is a primary activity when designing a control system. In this paper we present ProbZelus the first synchronous probabilistic programming language. ProbZelus conservatively provides the facilities of a synchronous language to write control software, with probabilistic constructs to model uncertainties and perform inference-in-the-loop. We present the design and implementation of the language. We propose a measure-theoretic semantics of probabilistic stream functions and a simple type discipline to separate deterministic and probabilistic expressions. We demonstrate a semantics-preserving compilation into a first-order functional language that lends itself to a simple presentation of inference algorithms for streaming models. We also redesign the delayed sampling inference algorithm to provide efficient streaming inference. Together with an evaluation on several reactive applications, our results demonstrate that ProbZelus enables the design of reactive probabilistic applications and efficient, bounded memory inference
Density-Based Semantics for Reactive Probabilistic Programming
Synchronous languages are now a standard industry tool for critical embedded
systems. Designers write high-level specifications by composing streams of
values using block diagrams. These languages have been extended with Bayesian
reasoning to program state-space models which compute a stream of distributions
given a stream of observations. However, the semantics of probabilistic models
is only defined for scheduled equations -- a significant limitation compared to
dataflow synchronous languages and block diagrams which do not require any
ordering.
In this paper we propose two schedule agnostic semantics for a probabilistic
synchronous language. The key idea is to interpret probabilistic expressions as
a stream of un-normalized density functions which maps random variable values
to a result and positive score. The co-iterative semantics interprets programs
as state machines and equations are computed using a fixpoint operator. The
relational semantics directly manipulates streams and is thus a better fit to
reason about program equivalence. We use the relational semantics to prove the
correctness of a program transformation required to run an optimized inference
algorithm for state-space models with constant parameters
Bayesian robot Programming
We propose a new method to program robots based on Bayesian inference and learning. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combinations, sensor fusion, hierarchical behavior composition, situation recognition and temporal sequencing. This series of experiments comprises the steps in the incremental development of a complex robot program. The advantages and drawbacks of this approach are discussed along with these different experiments and summed up as a conclusion. These different robotics programs may be seen as an illustration of probabilistic programming applicable whenever one must deal with problems based on uncertain or incomplete knowledge. The scope of possible applications is obviously much broader than robotics
Proposed shunt rounding technique for large-scale security constrained loss minimization
The official published version can be obtained from the link below - Copyright @ 2010 IEEE.Optimal reactive power flow applications often model large numbers of discrete shunt devices as continuous variables, which are rounded to their nearest discrete value at the final iteration. This can degrade optimality. This paper presents novel methods based on probabilistic and adaptive threshold approaches that can extend existing security constrained optimal reactive power flow methods to effectively solve large-scale network problems involving discrete shunt devices. Loss reduction solutions from the proposed techniques were compared to solutions from the mixed integer nonlinear mathematical programming algorithm (MINLP) using modified IEEE standard networks up to 118 buses. The proposed techniques were also applied to practical large-scale network models of Great Britain. The results show that the proposed techniques can achieve improved loss minimization solutions when compared to the standard rounding method.This work was supported in part by the National Grid and in part by the EPSRC. Paper no. TPWRS-00653-2009
BigraphER: rewriting and analysis engine for bigraphs
BigraphER is a suite of open-source tools providing an effi-
cient implementation of rewriting, simulation, and visualisation for bigraphs,
a universal formalism for modelling interacting systems that
evolve in time and space and first introduced by Milner. BigraphER consists
of an OCaml library that provides programming interfaces for the
manipulation of bigraphs, their constituents and reaction rules, and a
command-line tool capable of simulating Bigraphical Reactive Systems
(BRSs) and computing their transition systems. Other features are native
support for both bigraphs and bigraphs with sharing, stochastic reaction
rules, rule priorities, instantiation maps, parameterised controls, predicate
checking, graphical output and integration with the probabilistic
model checker PRISM
A uniform framework for modelling nondeterministic, probabilistic, stochastic, or mixed processes and their behavioral equivalences
Labeled transition systems are typically used as behavioral models of concurrent processes, and the labeled transitions define the a one-step state-to-state reachability relation. This model can be made generalized by modifying the transition relation to associate a state reachability distribution, rather than a single target state, with any pair of source state and transition label. The state reachability distribution becomes a function mapping each possible target state to a value that expresses the degree of one-step reachability of that state. Values are taken from a preordered set equipped with a minimum that denotes unreachability. By selecting suitable preordered sets, the resulting model, called ULTraS from Uniform Labeled Transition System, can be specialized to capture well-known models of fully nondeterministic processes (LTS), fully
probabilistic processes (ADTMC), fully stochastic processes (ACTMC), and of nondeterministic and probabilistic (MDP) or nondeterministic and stochastic (CTMDP) processes. This uniform treatment of different behavioral models extends to behavioral equivalences. These can be defined on ULTraS by relying on appropriate measure functions that expresses the degree of reachability of a set of states when performing
single-step or multi-step computations. It is shown that the specializations of bisimulation, trace, and testing
equivalences for the different classes of ULTraS coincide with the behavioral equivalences defined in the literature over traditional models
Testing Reactive Probabilistic Processes
We define a testing equivalence in the spirit of De Nicola and Hennessy for
reactive probabilistic processes, i.e. for processes where the internal
nondeterminism is due to random behaviour. We characterize the testing
equivalence in terms of ready-traces. From the characterization it follows that
the equivalence is insensitive to the exact moment in time in which an internal
probabilistic choice occurs, which is inherent from the original testing
equivalence of De Nicola and Hennessy. We also show decidability of the testing
equivalence for finite systems for which the complete model may not be known
Using schedulers to test probabilistic distributed systems
This is the author's accepted manuscript. The final publication is available at Springer via http://dx.doi.org/10.1007/s00165-012-0244-5. Copyright Ā© 2012, British Computer Society.Formal methods are one of the most important approaches to increasing the confidence in the correctness of software systems. A formal specification can be used as an oracle in testing since one can determine whether an observed behaviour is allowed by the specification. This is an important feature of formal testing: behaviours of the system observed in testing are compared with the specification and ideally this comparison is automated. In this paper we study a formal testing framework to deal with systems that interact with their environment at physically distributed interfaces, called ports, and where choices between different possibilities are probabilistically quantified. Building on previous work, we introduce two families of schedulers to resolve nondeterministic choices among different actions of the system. The first type of schedulers, which we call global schedulers, resolves nondeterministic choices by representing the environment as a single global scheduler. The second type, which we call localised schedulers, models the environment as a set of schedulers with there being one scheduler for each port. We formally define the application of schedulers to systems and provide and study different implementation relations in this setting
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