7,473 research outputs found
On the equivalence between the cell-based smoothed finite element method and the virtual element method
We revisit the cell-based smoothed finite element method (SFEM) for
quadrilateral elements and extend it to arbitrary polygons and polyhedrons in
2D and 3D, respectively. We highlight the similarity between the SFEM and the
virtual element method (VEM). Based on the VEM, we propose a new stabilization
approach to the SFEM when applied to arbitrary polygons and polyhedrons. The
accuracy and the convergence properties of the SFEM are studied with a few
benchmark problems in 2D and 3D linear elasticity. Later, the SFEM is combined
with the scaled boundary finite element method to problems involving
singularity within the framework of the linear elastic fracture mechanics in
2D
On the breeding habits of the Cowry Erronea errones (Linne)
Cowries are fairly common in the shallow
a reas of Palk Bay and Gulf of Mannar. The
species commonly found in the area between
Mandapam Camp and Mandapam has been
ide ntified as Erronea errones (Linne
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
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