835 research outputs found
Ubicorder: A mobile device for situated interactions with sensor networks
The Ubicorder is a mobile, location and orientation
aware device for browsing and interacting with real-time sensor
network data. In addition to browsing data, the Ubicorder also
provides a graphical user interface (GUI) that users can use to
define inference rules. These inference rules detect sensor data
patterns, and translate them to higher-order events. Rules can
also be recursively combined to form an expressive and robust
vocabulary for detecting real-world phenomena, thus enabling
users to script higher level and relevant responses to distributed
sensor stimuli. The Ubicorder’s mobile, handheld form-factor
enables users to easily bring the device to the phenomena of
interest, hence simultaneously observe or cause real-world stimuli
and manipulate in-situ the event detection rules easily using its
graphical interface. In a first-use user study, participants without
any prior sensor network experience rated the Ubicorder highly
for its usefulness and usability when interacting with a sensor
network.Things That Think Consortiu
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Continuous-time control synthesis under nested signal temporal logic specifications
Signal temporal logic (STL) has gained popularity in robotics for expressing
complex specifications that may involve timing requirements or deadlines. While
the control synthesis for STL specifications without nested temporal operators
has been studied in the literature, the case of nested temporal operators is
substantially more challenging and requires new theoretical advancements. In
this work, we propose an efficient continuous-time control synthesis framework
for nonlinear systems under nested STL specifications. The framework is based
on the notions of signal temporal logic tree (sTLT) and control barrier
function (CBF). In particular, we detail the construction of an sTLT from a
given STL formula and a continuous-time dynamical system, the sTLT semantics
(i.e., satisfaction condition), and the equivalence or under-approximation
relation between sTLT and STL. Leveraging the fact that the satisfaction
condition of an sTLT is essentially keeping the state within certain sets
during certain time intervals, it provides explicit guidelines for the CBF
design. The resulting controller is obtained through the utilization of an
online CBF-based program coupled with an event-triggered scheme for online
updating the activation time interval of each CBF, with which the correctness
of the system behavior can be established by construction. We demonstrate the
efficacy of the proposed method for single-integrator and unicycle models under
nested STL formulas.Comment: Link to accompanying code: https://github.com/xiaotanKTH/sTL
Modeling and Simulation of Biological Systems through Electronic Design Automation techniques
Modeling and simulation of biological systems is a key requirement for integrating invitro and in-vivo experimental data. In-silico simulation allows testing different experimental conditions, thus helping in the discovery of the dynamics that regulate the system. These dynamics include errors in the cellular information processing that are responsible for diseases such as cancer, autoimmunity, and diabetes as well as drug effects to the system (Gonalves, 2013). In this context, modeling approaches can be classified into two categories: quantitative and qualitative models. Quantitative modeling allows for a natural representation of molecular and gene networks and provides the most precise prediction. Nevertheless, the lack of kinetic data (and of quantitative data in general) hampers its use for many situations (Le Novere, 2015). In contrast, qualitative models simplify the biological reality and are often able to reproduce the system behavior. They cannot describe actual concentration levels nor realistic time scales. As a consequence, they cannot be used to explain and predict the outcome of biological experiments that yield quantitative data. However, given a biological network consisting of input (e.g., receptors), intermediate, and output (e.g., transcription factors) signals, they allow studying the input-output relationships through discrete simulation (Samaga, 2013). Boolean models are gaining an increasing interest in reproducing dynamic behaviors, understanding processes, and predicting emerging properties of cellular signaling networks through in-silico experiments. They are emerging as a valid alternative to the quantitative approaches (i.e., based on ordinary differential equations) for exploratory modeling when little is known about reaction kinetics or equilibrium constants in the context of gene expression or signaling. Even though several approaches and software have been recently proposed for logic modeling of biological systems, they are limited to specific contexts and they lack of automation in analyzing biological properties such as complex attractors, and molecule vulnerability. This thesis proposes a platform based on Electronic Design Automation (EDA) technologies for qualitative modeling and simulation of Biological Systems. It aims at overtaking limitations that affect the most recent qualitative tools
Formal Methods for Autonomous Systems
Formal methods refer to rigorous, mathematical approaches to system
development and have played a key role in establishing the correctness of
safety-critical systems. The main building blocks of formal methods are models
and specifications, which are analogous to behaviors and requirements in system
design and give us the means to verify and synthesize system behaviors with
formal guarantees.
This monograph provides a survey of the current state of the art on
applications of formal methods in the autonomous systems domain. We consider
correct-by-construction synthesis under various formulations, including closed
systems, reactive, and probabilistic settings. Beyond synthesizing systems in
known environments, we address the concept of uncertainty and bound the
behavior of systems that employ learning using formal methods. Further, we
examine the synthesis of systems with monitoring, a mitigation technique for
ensuring that once a system deviates from expected behavior, it knows a way of
returning to normalcy. We also show how to overcome some limitations of formal
methods themselves with learning. We conclude with future directions for formal
methods in reinforcement learning, uncertainty, privacy, explainability of
formal methods, and regulation and certification
Computer Aided Verification
This open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency
Stochastic hybrid system : modelling and verification
Hybrid systems now form a classical computational paradigm unifying discrete and continuous system aspects. The modelling, analysis and verification of these systems are very difficult.
One way to reduce the complexity of hybrid system models is to consider randomization. The need for stochastic models has actually multiple motivations. Usually, when building models complete information is not available and we have to consider stochastic versions. Moreover, non-determinism and uncertainty are inherent to complex systems. The stochastic approach can be thought of as a way of quantifying non-determinism (by assigning a probability to each
possible execution branch) and managing uncertainty. This is built upon to the - now classical - approach in algorithmics that provides polynomial complexity algorithms via randomization.
In this thesis we investigate the stochastic hybrid systems, focused on modelling and analysis.
We propose a powerful unifying paradigm that combines analytical and formal methods. Its
applications vary from air traffic control to communication networks and healthcare systems.
The stochastic hybrid system paradigm has an explosive development. This is because of its
very powerful expressivity and the great variety of possible applications. Each hybrid system model can be randomized in different ways, giving rise to many classes of stochastic hybrid systems.
Moreover, randomization can change profoundly the mathematical properties of discrete and continuous aspects and also can influence their interaction. Beyond the profound foundational and semantics issues, there is the possibility to combine and cross-fertilize techniques from analytic mathematics (like optimization, control, adaptivity, stability, existence and uniqueness of trajectories, sensitivity analysis) and formal methods (like bisimulation, specification, reachability
analysis, model checking). These constitute the major motivations of our research. We
investigate new models of stochastic hybrid systems and their associated problems. The main difference from the existing approaches is that we do not follow one way (based only on continuous or discrete mathematics), but their cross-fertilization. For stochastic hybrid systems we introduce concepts that have been defined only for discrete transition systems. Then, techniques
that have been used in discrete automata now come in a new analytical fashion. This is partly explained by the fact that popular verification methods (like theorem proving) can hardly work even on probabilistic extensions of discrete systems. When the continuous dimension is added, the idea to use continuous mathematics methods for verification purposes comes in a natural
way.
The concrete contribution of this thesis has four major milestones:
1. A new and a very general model for stochastic hybrid systems;
2. Stochastic reachability for stochastic hybrid systems is introduced together with an approximating method to compute reach set probabilities;
3. Bisimulation for stochastic hybrid systems is introduced and relationship with reachability analysis is investigated.
4. Considering the communication issue, we extend the modelling paradigm
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