Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility is calculated, an empirical and non-invasive characterization of the inherent objectives of the software designers. By comparing off-line (a-priori) utility with on-line (deployed system) utility, we show, using a small but real ROS example, that it's possible to monitor a performance criterion and relate violations of the criterion to parts of the software. The software is then patched using automated software repair techniques and evaluated against the original off-line utility.Comment: IEEE Workshop on Assured IEEE Workshop on Assured Autonomous Systems, May, 202

Effect of Activated Charcoal and Composition Activator Acid Sulphate on Palm Oil Waste Water Treatment

Purpose of this research is to exploit the shell and palm fiber become the active charcoal, by looking at the influence of the ratio mixture composition and effect of activator. this Active charcoal application as adsorbent to the liquid waste of crude palm oil. Initial treatment, shells and palm fiber dried first at a temperature of 1200C and carbonized. charcoal mix shell and palm fiber activation chemically with a solution of H2SO4 by way of immersed in the solution for 24 hours. The best quality activated charcoal obtained from the comparison of the 75% shell, 25% palm fiber with activator H2SO4 that has a yield of 95.94%, 4.9% moisture content, ash content 6.13%, iodine number 916.594 mg / g. Activated charcoal mixture palm shell and palm fiber can be used as adsorbent liquid waste CPO, which is indicated by a decline in these parameters in the waste water contaminants in CPO, which is a 7.49 pH of 9, TSS of 660 ppm to 325 ppm,COD becomes 237,12 mg/L from1577.60 mg/L

Equilibrium states on right LCM semigroup C*-algebras

We determine the structure of equilibrium states for a natural dynamics on the boundary quotient diagram of $C^*$-algebras for a large class of right LCM semigroups. The approach is based on abstract properties of the semigroup and covers the previous case studies on $\mathbb{N} \rtimes \mathbb{N}^\times$, dilation matrices, self-similar actions, and Baumslag-Solitar monoids. At the same time, it provides new results for large classes of right LCM semigroups, including those associated to algebraic dynamical systems.Comment: 43 pages, to appear in Int. Math. Res. No