Safety Verification of Communicating One-Counter Machines

In order to verify protocols that tag messages with integer values, we investigate the decidability of the reachability problem for systems of communicating one-counter machines. These systems consist of local one-counter machines that asynchronously communicate by exchanging the value of their counters via, a priori unbounded, FIFO channels. This model extends communicating finite-state machines (CFSM) by infinite-state local processes and an infinite message alphabet. The main result of the paper is a complete characterization of the communication topologies that have a solvable reachability question. As already CFSM exclude the possibility of automatic verification in presence of mutual communication, we also consider an under-approximative approach to the reachability problem, based on rendezvous synchronization

A biologically inspired meta-control navigation system for the Psikharpax rat robot

A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics

Winner-Relaxing Self-Organizing Maps

A new family of self-organizing maps, the Winner-Relaxing Kohonen Algorithm, is introduced as a generalization of a variant given by Kohonen in 1991. The magnification behaviour is calculated analytically. For the original variant a magnification exponent of 4/7 is derived; the generalized version allows to steer the magnification in the wide range from exponent 1/2 to 1 in the one-dimensional case, thus provides optimal mapping in the sense of information theory. The Winner Relaxing Algorithm requires minimal extra computations per learning step and is conveniently easy to implement.Comment: 14 pages (6 figs included). To appear in Neural Computatio

A fast and robust patient specific Finite Element mesh registration technique: application to 60 clinical cases

Finite Element mesh generation remains an important issue for patient specific biomechanical modeling. While some techniques make automatic mesh generation possible, in most cases, manual mesh generation is preferred for better control over the sub-domain representation, element type, layout and refinement that it provides. Yet, this option is time consuming and not suited for intraoperative situations where model generation and computation time is critical. To overcome this problem we propose a fast and automatic mesh generation technique based on the elastic registration of a generic mesh to the specific target organ in conjunction with element regularity and quality correction. This Mesh-Match-and-Repair (MMRep) approach combines control over the mesh structure along with fast and robust meshing capabilities, even in situations where only partial organ geometry is available. The technique was successfully tested on a database of 5 pre-operatively acquired complete femora CT scans, 5 femoral heads partially digitized at intraoperative stage, and 50 CT volumes of patients' heads. The MMRep algorithm succeeded in all 60 cases, yielding for each patient a hex-dominant, Atlas based, Finite Element mesh with submillimetric surface representation accuracy, directly exploitable within a commercial FE software

Modeling of grating assisted standing wave microresonators for filter applications in integrated optics

A wide, multimode segment of a dielectric optical waveguide, enclosed by Bragg reflectors and evanescently coupled to adjacent port waveguides, can constitute the cavity in an integrated optical microresonator. It turns out that the device can be described adequately in terms of an approximate coupled mode theory model which involves only a few guided modes as basis fields. By reasoning along the coupled mode model, we motivate a simple design strategy for the resonator device. Rigorous two dimensional mode expansion simulations are applied to verify the predictions of the approximate model. The results exemplify the specific spectral response of the standing wave resonators. As refinements we discuss the single resonance of a device with nonsymmetrically detuned Bragg reflectors, and the cascading of two Fabry-Perot cavities, where the coupling across an intermediate shorter grating region establishes a power transfer characteristic that is suitable for an add-drop filter