1,865 research outputs found
A Component-oriented Framework for Autonomous Agents
The design of a complex system warrants a compositional methodology, i.e.,
composing simple components to obtain a larger system that exhibits their
collective behavior in a meaningful way. We propose an automaton-based paradigm
for compositional design of such systems where an action is accompanied by one
or more preferences. At run-time, these preferences provide a natural fallback
mechanism for the component, while at design-time they can be used to reason
about the behavior of the component in an uncertain physical world. Using
structures that tell us how to compose preferences and actions, we can compose
formal representations of individual components or agents to obtain a
representation of the composed system. We extend Linear Temporal Logic with two
unary connectives that reflect the compositional structure of the actions, and
show how it can be used to diagnose undesired behavior by tracing the
falsification of a specification back to one or more culpable components
Adaptable transition systems
We present an essential model of adaptable transition systems inspired by white-box approaches to adaptation and based on foundational models of component based systems. The key feature of adaptable transition systems are control propositions, imposing a clear separation between ordinary, functional behaviours and adaptive ones. We instantiate our approach on interface automata yielding adaptable interface automata, but it may be instantiated on other foundational models of component-based systems as well. We discuss how control propositions can be exploited in the specification and analysis of adaptive systems, focusing on various notions proposed in the literature, like adaptability, control loops, and control synthesis
SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems
The recent drive towards achieving greater autonomy and intelligence in
robotics has led to high levels of complexity. Autonomous robots increasingly
depend on third party off-the-shelf components and complex machine-learning
techniques. This trend makes it challenging to provide strong design-time
certification of correct operation.
To address these challenges, we present SOTER, a robotics programming
framework with two key components: (1) a programming language for implementing
and testing high-level reactive robotics software and (2) an integrated runtime
assurance (RTA) system that helps enable the use of uncertified components,
while still providing safety guarantees. SOTER provides language primitives to
declaratively construct a RTA module consisting of an advanced,
high-performance controller (uncertified), a safe, lower-performance controller
(certified), and the desired safety specification. The framework provides a
formal guarantee that a well-formed RTA module always satisfies the safety
specification, without completely sacrificing performance by using higher
performance uncertified components whenever safe. SOTER allows the complex
robotics software stack to be constructed as a composition of RTA modules,
where each uncertified component is protected using a RTA module.
To demonstrate the efficacy of our framework, we consider a real-world
case-study of building a safe drone surveillance system. Our experiments both
in simulation and on actual drones show that the SOTER-enabled RTA ensures the
safety of the system, including when untrusted third-party components have bugs
or deviate from the desired behavior
On the tailoring of CAST-32A certification guidance to real COTS multicore architectures
The use of Commercial Off-The-Shelf (COTS) multicores in real-time industry is on the rise due to multicores' potential performance increase and energy reduction. Yet, the unpredictable impact on timing of contention in shared hardware resources challenges certification. Furthermore, most safety certification standards target single-core architectures and do not provide explicit guidance for multicore processors. Recently, however, CAST-32A has been presented providing guidance for software planning, development and verification in multicores. In this paper, from a theoretical level, we provide a detailed review of CAST-32A objectives and the difficulty of reaching them under current COTS multicore design trends; at experimental level, we assess the difficulties of the application of CAST-32A to a real multicore processor, the NXP P4080.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness (MINECO) under grant
TIN2015-65316-P and the HiPEAC Network of Excellence.
Jaume Abella has been partially supported by the MINECO under Ramon y Cajal grant RYC-2013-14717.Peer ReviewedPostprint (author's final draft
A Visual Language for Composable Simulation Scenarios
Modeling and Simulation plays an important role in how the Air Force trains and fights, Scenarios are used in simulation to give users the ability to specify entities and behaviors that should be simulated by a model: however, building and understanding scenarios can be a difficult and time-consuming process, furthermore, as composable simulations become more prominent, the need for a common descriptor for simulation scenarios has become evident. In order to reduce the complexity of creating and understanding simulation scenarios, a visual language was created, The research on visual languages presented in this thesis examines methods of visually specifying the high-level behavior of entities in scenarios and how to represent the hierarchy of the entities in scenarios. Through a study of current behavior specification techniques and the properties of mission-level simulation scenarios, Simulation Behavior Specification Diagrams (SBSD) were developed to represent the behavior of entities in scenarios, Additionally, the information visualization technique of treemaps was adapted to represent the hierarchy of entities in scenarios, After completing case studies on scenarios for the OneSAF simulation model, SBSDs and the application of treemaps to scenarios was considered successful, SBSD diagrams accurately represented the behavior of entities in the simulation scenarios and through software can be converted into code for use by simulation models, The treemap displayed the hierarchy of the entities along with information about the relative size of the entities when applied to simulation scenarios
Statistical Model Checking for Stochastic Hybrid Systems
This paper presents novel extensions and applications of the UPPAAL-SMC model
checker. The extensions allow for statistical model checking of stochastic
hybrid systems. We show how our race-based stochastic semantics extends to
networks of hybrid systems, and indicate the integration technique applied for
implementing this semantics in the UPPAAL-SMC simulation engine. We report on
two applications of the resulting tool-set coming from systems biology and
energy aware buildings.Comment: In Proceedings HSB 2012, arXiv:1208.315
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