9 research outputs found

    Contemporary Robotics

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    This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

    Borrowed contexts for attributed graphs

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    Borrowed context graph transformation is a simple and powerful technique developed by Ehrig and König that allow us to derive labeled transitions and bisimulation congruences for graph transformation systems or, in general, for pocess calculi that can be defined in terms of graph transformation systems. Moreover, the same authors have also shown how to use this technique for the verification of bisimilarity. In principle, the main results about borrowed context transformation do not apply only to plain graphs, but they are generic in the sense that they apply to all categories tha satisfy certain properties related to the notion of adhesivity. In particular, this is the case of attributed graphs. However, as we show in the paper, the techniques used for checking bisimilarity are not equally generic and, in particular they fail, if we want to apply them to attributed graphs. To solve this problem, in this paper, we define a special notion of symbolic graph bisimulation and show how it can be used to check bisimilarity of attributed graphs.Postprint (published version

    RPO Semantics for Mobile Ambients

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    The paper focuses on the synthesis of labelled transition systems (LTSs) for process calculi, choosing as testbed Mobile Ambients (MAs). The proposal is based on a graphical encoding: a process is mapped into a graph equipped with interfaces, such that the denotation is fully abstract with respect to the standard structural congruence. Graphs with interfaces are amenable to the synthesis mechanism based on borrowed contexts (BCs), an instance of relative pushouts (RPOs). The BC mechanism allows the effective construction of a LTS that has graphs with interfaces as states and labels, and such that the associated bisimilarity is a congruence. Our paper focuses on the analysis of a LTS over processes as graphs with interfaces: we use the LTS on graphs to recover a LTS directly defined over the structure of MAs processes, further defining a set of SOS inference rules capturing the same operational semantics

    Adequacy Issues in Reactive Systems: Barbed Semantics for Mobile Ambients

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    Reactive systems represent a meta-framework aimed at deriving behavioral congruences for those specification formalisms whose operational semantics is provided by rewriting rules. The aim of this thesis is to address one of the main issues of the framework, concerning the adequacy of the standard observational semantics (the IPO and the saturated one) in modelling the concrete semantics of actual formalisms. The problem is that IPO-bisimilarity (obtained considering only minimal labels) is often too discriminating, while the saturated one (via all labels) may be too coarse, and intermediate proposals should then be put forward. We then introduce a more expressive semantics for reactive systems which, thanks to its flexibility, allows for recasting a wide variety of observational, bisimulation-based equivalences. In particular, we propose suitable notions of barbed and weak barbed semantics for reactive systems, and an efficient characterization of them through the IPO-transition systems. We also propose a novel, more general behavioural equivalence: L-bisimilarity, which is able to recast both its IPO and saturated counterparts, as well as the barbed one. The equivalence is parametric with respect to a set L of reactive systems labels, and it is shown that under mild conditions on L it is a congruence. In order to provide a suitable test-bed, we instantiate our proposal over the asynchronous CCS and, most importantly, over the mobile ambients calculus, whose semantics is still in a flux

    Saturated LTSs for Adhesive Rewriting Systems

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    G-Reactive Systems (GRSs) are a framework for the derivation of labelled transition systems (LTSs) from a set of unlabelled rules. A label for a transition from A to B is a context C[−] such that C[A] may perform a reaction and reach B. If either all contexts, or just the “minimal” ones, are considered, the resulting LTS is called saturated (GIPO, respectively). The borrowed contexts (BCs) technique addresses the issue in the setting of the DPO approach. Indeed, from an adhesive rewriting system (ARS) a GRS can be defined such that DPO derivations correspond to reactions, and BC derivations to transitions of the GIPO LTS. This paper extends the BCs technique in order to derive saturated LTSs for ARSs, applying it to capture bisimilarity for asynchronous calculi

    Abstract Semantics by Observable Contexts

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    The operational behavior of interactive systems is usually given in terms of transition systems labeled with actions, which, when visible, represent both observations and interactions with the external world. The abstract semantics is given in terms of behavioral equivalences, which depend on the action labels and on the amount of branching structure considered. Behavioural equivalences are often congruences with respect to the operations of the language, and this property expresses the compositionality of the abstract semantics. A simpler approach, inspired by classical formalisms like pi-calculus, Petri nets, term and graph rewriting, and pioneered by the Chemical Abstract Machine [13], defines operational semantics by means of structural axioms and reaction rules. Process calculi representing complex systems, in particular those able to generate and communicate names, are often defined in this way, since structural axioms give a clear idea of the intended structure of the states while reaction rules, which are often non-conditional, give a direct account of the possible steps. Transitions caused by reaction rules, however, are not labeled, since they represent evolutions of the system without interactions with the external world. Thus reduction semantics in itself is neither abstract nor compositional. One standard solution, pioneered in [89], is that of defining a saturated transition system as follows: a process p can do a move with label C[-] and become q, iff C[p]--> q. Saturated semantics, i.e., the abstract semantics defined over the saturated transition system, are always congruences, but they are usually untractable since they have to tackle all possible contexts of which there are usually an infinite number. Moreover, in several paradigmatic cases, saturated semantics are too coarse. For example, in Milner's Calculus of Communicating Systems (CCS), saturated bisimilarity cannot distinguish "always divergent processes" and for this reason Milner and Sangiorgi introduced barbs. These are observations on the states representing the ability to interact over some channels. Sewell introduced a different approach that consists in deriving a transition system where labels are not all contexts but just the minimal ones allowing a system to reach a rule. In such a way, one obtains two advantages: firstly one avoids considering all contexts, and secondly, labels precisely represent interactions, i.e., the portion of environment that is really needed to react. This idea was then refined by Leifer and Milner in the theory of reactive systems, where the categorical notion of idem relative pushout precisely captures this idea of minimal context. In this thesis, we show that in some cases this approach works well (e.g., CCS) but often, the resulting abstract semantics are too strict. In our opinion, they are not really observational since the observer can know exactly how much structure a process needs to reach a specific rule, and thus the observation depends on the rules. One result of the thesis is that of providing evidence of this through several interesting formalisms modeled as reactive systems: Logic Programming, a fragment of open pi-calculus, and an interactive version of Petri nets. Moreover, we introduce two alternative definitions of bisimilarity that efficiently characterize saturated bisimilarity, namely semi-saturated bisimilarity and symbolic bisimilarity. These allow us to reason about saturated semantics without considering all contexts, but saturated semantics are in several cases too coarse. In order to have a framework that is suitable for many formalisms, we add to the above approach observations. Indeed, in our opinion, labels cannot represent both interactions and observations, because these two concepts are in general different, like for example, in the asynchronous calculi where receiving is not observable. Thus, we believe that some notion of observation, either on transitions or on states (e.g. barbs), is necessary. A further result of the thesis is that of providing a generalization of the above theory starting not just from purely reaction rules, but from transition systems labeled with observations. Here we can easily reuse saturated transition systems by defining them as follows: a process p can do a move with context C[-] and observation o and become q iff C[p] --o--> q. Again, saturated semantics, i.e. abstract semantics defined over the above transition systems, are congruences. Analogously to the case of reactive systems, we can define semi-saturated bisimilarity and symbolic bisimilarity as efficient characterizations of saturated semantics. The definition of symbolic bisimilarity which arises from this generalization is similar to the abstract semantics of several works. Here we consider open and asynchronous pi-calculus, by showing that their abstract semantics are instances of our general concepts of saturated and symbolic semantics. We also apply our approach to open Petri nets (that are an interactive version of P/T Petri nets) obtaining a new symbolic semantics for them, that efficiently characterizes their abstract semantics. We round up the thesis with a coalgebraic characterization for saturated, semi-saturated and symbolic bisimilarity. Universal Coalgebra provides a categorical framework where abstract semantics of interactive systems are described as morphisms to their minimal representatives. More precisely, if the category of coalgebras has final object 1, then the unique morphisms from a certain coalgebra to 1 equates all the bisimilar states. In other words, the final object can be seen as a universe of abstract behaviors and the unique morphism as a function assigning to each system its abstract behavior. This characterization of abstract semantics is not only theoretically interesting, but also pragmat- ically useful, since it suggests an algorithm which can check the equivalence: one computes the image of some coalgebras through the unique morphism (that for the finite lts corresponds to the list partitioning algorithm by Kanellakis and Smolka), and these coalgebras are behaviorally equivalent if their images are the same. Ordinary labeled transition systems can be represented as coalgebras, and the resulting abstract semantics exactly coincides with canonical bisimilarity. Then, providing a coalgebraic characterization of saturated bisimilarity is almost straightforward. The case of semi-saturated and symbolic bisimilarities are more complicated because their definitions are asymmetric. In order to properly characterizes semi-saturated and symbolic cases, we first introduce a new notion of redundancy on transitions and then normalized coalgebras: a special kind of coalgebras without redundant transitions. We prove that the category of normalized coalgebras is isomorphic to the category of saturated coalgebras (the coalgebras containing all the redundant transitions), where the large saturated transition system can be directly modelled. In doing this, we use the notions of normalization that throws away all the redundant transitions, and of saturation that adds all the redundant transitions. Both are natural transformations between the endofunctors (defining the two categories of coalgebras) and one is the inverse of the other. As a corollary of the isomorphism theorem, saturated bisimilarity can be characterized as bisimilarity in the category of normalized coalgebras, i.e., abstracting away from redundant transitions. This is interesting because, on the one hand, it provides us with a canonical representatives for ~S without redundant transitions (and then much smaller with respect to the saturated ones), on the other hand, it suggests a minimization algorithm for "efficiently" computing ~S

    Fundamental Approaches to Software Engineering

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    computer software maintenance; computer software selection and evaluation; formal logic; formal methods; formal specification; programming languages; semantics; software engineering; specifications; verificatio
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