9,777 research outputs found
Probabilistic Model Checking for Energy Analysis in Software Product Lines
In a software product line (SPL), a collection of software products is
defined by their commonalities in terms of features rather than explicitly
specifying all products one-by-one. Several verification techniques were
adapted to establish temporal properties of SPLs. Symbolic and family-based
model checking have been proven to be successful for tackling the combinatorial
blow-up arising when reasoning about several feature combinations. However,
most formal verification approaches for SPLs presented in the literature focus
on the static SPLs, where the features of a product are fixed and cannot be
changed during runtime. This is in contrast to dynamic SPLs, allowing to adapt
feature combinations of a product dynamically after deployment. The main
contribution of the paper is a compositional modeling framework for dynamic
SPLs, which supports probabilistic and nondeterministic choices and allows for
quantitative analysis. We specify the feature changes during runtime within an
automata-based coordination component, enabling to reason over strategies how
to trigger dynamic feature changes for optimizing various quantitative
objectives, e.g., energy or monetary costs and reliability. For our framework
there is a natural and conceptually simple translation into the input language
of the prominent probabilistic model checker PRISM. This facilitates the
application of PRISM's powerful symbolic engine to the operational behavior of
dynamic SPLs and their family-based analysis against various quantitative
queries. We demonstrate feasibility of our approach by a case study issuing an
energy-aware bonding network device.Comment: 14 pages, 11 figure
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Designing heterogeneous porous tissue scaffolds for additive manufacturing processes
A novel tissue scaffold design technique has been proposed with controllable heterogeneous architecture design suitable for additive manufacturing processes. The proposed layer-based design uses a bi-layer pattern of radial and spiral layers consecutively to generate functionally gradient porosity, which follows the geometry of the scaffold. The proposed approach constructs the medial region from the medial axis of each corresponding layer, which represents the geometric internal feature or the spine. The radial layers of the scaffold are then generated by connecting the boundaries of the medial region and the layer's outer contour. To avoid the twisting of the internal channels, reorientation and relaxation techniques are introduced to establish the point matching of ruling lines. An optimization algorithm is developed to construct sub-regions from these ruling lines. Gradient porosity is changed between the medial region and the layer's outer contour. Iso-porosity regions are determined by dividing the subregions peripherally into pore cells and consecutive iso-porosity curves are generated using the isopoints from those pore cells. The combination of consecutive layers generates the pore cells with desired pore sizes. To ensure the fabrication of the designed scaffolds, the generated contours are optimized for a continuous, interconnected, and smooth deposition path-planning. A continuous zig-zag pattern deposition path crossing through the medial region is used for the initial layer and a biarc fitted isoporosity curve is generated for the consecutive layer with C-1 continuity. The proposed methodologies can generate the structure with gradient (linear or non-linear), variational or constant porosity that can provide localized control of variational porosity along the scaffold architecture. The designed porous structures can be fabricated using additive manufacturing processes
Functionally gradient tissue scaffold design and deposition path planning for bio-additive processes
A layer-based tissue scaffold is designed with heterogeneous internal architecture. The proposed layer-based design uses a bi-layer pattern of radial and spiral layer consecutively to generate functionally gradient porosity following the geometry of the scaffold. Medial region is constructed from medial axis and used as an internal geometric feature for each layer. The radial layers are generated with sub-region channels by connecting the boundaries of the medial region and the layer’s outer contour. Proper connections with allowable geometric properties are ensured by applying optimization algorithms. Iso-porosity regions are determined by dividing the sub-regions into pore cells. The combination of consecutive layers generates the pore cells with desired pore sizes. To ensure the fabrication of the designed scaffolds, both contours have been optimized for a continuous, interconnected, and smooth deposition path-planning. The proposed methodologies can generate the structure with gradient (linear or non-linear), variational or constant porosity that can provide localized control of variational porosity along the scaffold architecture. The designed porous structures can be fabricated using bio-additive fabrication processes
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