Iterator-based temporal logic task planning

Temporal logic task planning for robotic systemssuffers from state explosion when specifications involve largenumbers of discrete locations. We provide a novel approach,particularly suited for tasks specifications with universallyquantified locations, that has constant time with respect tothenumber of locations, enabling synthesis of plans for an arbitrarynumber of them. We propose a hybrid control framework thatuses an iterator to manage the discretised workspace hidingitfrom a plan enacted by a discrete event controller. A downsideof our approach is that it incurs in increased overhead whenexecuting a synthesised plan. We demonstrate that the overheadis reasonable for missions of a fixed-wing Unmanned AerialVehicle in simulated and real scenarios for up to700 000locations

A framework for pathologies of message sequence charts

This is the post-print version of the final paper published in Information Software and Technology. The published article is available from the link below. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. Copyright @ 2012 Elsevier B.V.Context - It is known that a Message Sequence Chart (MSC) specification can contain different types of pathology. However, definitions of different types of pathology and the problems caused by pathologies are unclear, let alone the relationships between them. In this circumstance, it can be problematic for software engineers to accurately predict the possible problems that may exist in implementations of MSC specifications and to trace back to the design problems in MSC specifications from the observed problems of an implementation. Objective - We focus on generating a clearer view on MSC pathologies and building formal relationships between pathologies and the problems that they may cause. Method - By concentrating on the problems caused by pathologies, a categorisation of problems that a distributed system may suffer is first introduced. We investigate the different types of problems and map them to categories of pathologies. Thus, existing concepts related to pathology are refined and necessary concepts in the pathology framework are identified. Finally, we formally prove the relationships between the concepts in the framework. Results - A pathology framework is established as desired based on a restriction that considers problematic scenarios with a single undesirable event. In this framework, we define disjoint categories of both pathologies and the problems caused; the identified types of pathology are successfully mapped to the problems that they may cause. Conclusion - The framework achieved in this paper introduces taxonomies into and clarifies relationships between concepts in research on MSC pathologies. The taxonomies and relationships in the framework can help software engineers to predict problems and verify MSC specifications. The single undesirable event restriction not only enables a categorisation of pathological scenarios, but also has the potential practical benefit that a software engineer can concentrate on key problematic scenarios. This may make it easier to either remove pathologies from an MSC specification MM or test an implementation developed from MM for potential problems resulting from such pathologies

Exploration policies for on-the-fly controller synthesis: a reinforcement learning approach

Controller synthesis is in essence a case of model-based planning for non-deterministic environments in which plans (actually “strategies”) are meant to preserve system goals indefinitely. In the case of supervisory control environments are specified as the parallel composition of state machines and valid strategies are required to be “non-blocking” (i.e., always enabling the environment to reach certain marked states) in addition to safe (i.e., keep the system within a safe zone). Recently, On-the-fly Directed Controller Synthesis techniques were proposed to avoid the exploration of the entire -and exponentially large- environment space, at the cost of non-maximal permissiveness, to either find a strategy or conclude that there is none. The incremental exploration of the plant is currently guided by a domain-independent human-designed heuristic. In this work, we propose a new method for obtaining heuristics based on Reinforcement Learning (RL). The synthesis algorithm is thus framed as an RL task with an unbounded action space and a modified version of DQN is used. With a simple and general set of features that abstracts both states and actions, we show that it is possible to learn heuristics on small versions of a problem that generalize to the larger instances, effectively doing zero-shot policy transfer. Our agents learn from scratch in a highly partially observable RL task and outperform the existing heuristic overall, in instances unseen during training

Unified devs-based platform for modelling and simulation of hybrid control systems

Recent robotic research has led to different architectural approaches that support enactment of automatically synthesized discrete event controllers from user specifications over low-level continuous variable controllers. Simulation of these hybrid control approaches to robotics can be a useful validation tool for robot users and architecture designers, but presents the key challenge of working with discrete and continuous representations of the robot, its environment and its mission plans. In this work we address this challenge showcasing a unified DEVS-based hybrid simulation platform. We model and simulate the hybrid robotic software architecture of a fixed-wing UAV, including the full stack of controllers involved: discrete, hybrid and continuous. We validate the approach experimentally on a typical UAV mapping mission and show that with our unified approach we are able to achieve simulation speed-ups up to one order of magnitude above our previous Software In The Loop simulation setup

Fluent temporal logic for discrete-time event-based models

Fluent model checking is an automated technique for verifying that an event-based operational model satisfies some state-based declarative properties. The link between the event-based and state-based formalisms is defined through fluents which are state predicates whose value are determined by the occurrences of initiating and terminating events that make the fluents values become true or false, respectively. The existing fluent temporal logic is convenient for reasoning about untimed event-based models but difficult to use for timed models. The paper extends fluent temporal logic with temporal operators for modelling timed properties of discrete-time event-based models. It presents two approaches that differ on whether the properties model the system state after the occurrence of each event or at a fixed time rate. Model checking of timed properties is made possible by translating them into the existing untimed framework. Copyright 2005 ACM

Mathematics for the exploration of requirements

The exploration of requirements is as complex as it is important in ensuring a successful software production and software life cycle. Increasingly, tool-support is available for aiding such explorations. We use a toy example and a case study of modelling and analysing some requirements of the global assembly cache of .NET to illustrate the opportunities and challenges that mathematically founded exploration of requirements brings to the computer science and software engineering curricula

Acid-sensing ion channels 1a (ASIC1a) inhibit neuromuscular transmission in female mice

Acid-sensing ion channels (ASIC) open in response to extracellular acidosis. ASIC1a, a particular subtype of these channels, has been described to have a postsynaptic distribution in the brain, being involved not only in ischemia and epilepsy, but also in fear and psychiatric pathologies. High-frequency stimulation of skeletal motor nerve terminals (MNTs) can induce presynaptic pH changes in combination with an acidification of the synaptic cleft, known to contribute to muscle fatigue. Here, we studied the role of ASIC1a channels on neuromuscular transmission. We combined a behavioral wire hanging test with electrophysiology, pharmacological, and immunofluorescence techniques to compare wild-type and ASIC1a lacking mice (ASIC1a −/− knockout). Our results showed that 1) ASIC1a −/− female mice were weaker than wild type, presenting shorter times during the wire hanging test; 2) spontaneous neurotransmitter release was reduced by ASIC1a activation, suggesting a presynaptic location of these channels at individual MNTs; 3) ASIC1a-mediated effects were emulated by extracellular local application of acid saline solutions (pH = 6.0; HEPES/MES-based solution); and 4) immunofluorescence techniques revealed the presence of ASIC1a antigens on MNTs. These results suggest that ASIC1a channels might be involved in controlling neuromuscular transmission, muscle contraction and fatigue in female mice.Fil: Urbano Suarez, Francisco Jose. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: Lino, Noelia Gisele. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: González Inchauspe, Carlota María Fabiola. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: Gonzalez, Laura Elisabeth. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: Colettis, Natalia Claudia. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: Vattino, Lucas Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; ArgentinaFil: Wunsch, Amanda M.. University of Iowa; Estados UnidosFil: Wemmie, John A.. University of Iowa; Estados UnidosFil: Uchitel, Osvaldo Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Fisiología, Biología Molecular y Neurociencias. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Fisiología, Biología Molecular y Neurociencias; Argentin

Теоретичні та методичні аспекти організації самостійної навчальної діяльності студентів із використанням інформаційно-комунікаційних технологій та засобів

In the article the possibilities and classification of ICTs and tools that can be used in organizing students’ independent study activities of higher education institutions has been explored. It is determined the students’ independent study activities is individual, group, collective activity and is implemented within the process of education under the condition of no pedagogy’s direct involvement. It complies with the requirements of the curriculum and syllabus and is aimed at students’ acquisition of some social experiences in line with the learning objectives of vocational training. The analysis of the latest information and technological approaches to the organization of students’ independent study activities made it possible to determine the means of realization of the leading forms of organization for this activity (independent and research work, lectures, consultations and non-formal education), to characterize and classify the ICTs and tools that support presentation of teaching materials, electronic communication, mastering of learning material, monitoring of students’ learning and cognitive activity, such as ones that serve for the sake of development and support of automated training courses, systems of remote virtual education with elements of artificial intelligence, which implement the principle of adaptive management of learning and the organization of students’ independent study activities. The paper provides the insight into the essence of the conducted investigation on the assesses of the effectiveness of ICTs and tools in the process of organizing students’ independent study activities.У статті досліджено можливості і класифікація ІКТ та інструментів, які можуть бути використані при організації самостійної навчальної діяльності студентів вищих навчальних закладів. Визначено, що самостійна навчальна діяльність студентів є індивідуальною, груповий, колективної діяльністю і здійснюється в процесі навчання за умови відсутності безпосереднього участі педагога. Він відповідає вимогам навчальної програми та навчальної програми і спрямований на набуття студентами певного соціального досвіду відповідно до цілей професійної підготовки. Аналіз новітніх інформаційних і технологічних підходів до організації самостійної навчальної діяльності студентів дозволив визначити засоби реалізації провідних форм організації цієї діяльності (самостійна і дослідницька робота, лекції, консультації та неформальна освіта). ), Щоб охарактеризувати та класифікувати ІКТ та інструменти, які підтримують подання навчальних матеріалів, електронну комунікацію, засвоєння навчальних матеріалів, моніторинг навчальної та пізнавальної діяльності студентів, наприклад ті, які служать розвитку і підтримки автоматичних навчальних курсів системи дистанційного віртуального навчання з елементами штучного інтелекту, в яких реалізований принцип адаптивного управління навчанням і організації самостійної навчальної діяльності студентів. У документі дається уявлення про сутність проведеного дослідження з оцінки ефективності ІКТ та інструментів в процесі організації самостійної навчальної діяльності студентів

Correct composition of dephased behavioural models

This research is supported by EPSRC grant EP/M014290/1.Scenarios of execution are commonly used to specify partial behaviour and interactions between different objects and components in a system. To avoid overall inconsistency in specifications, various automated methods have emerged in the literature to compose (behavioural) models. In recent work, we have shown how the theorem prover Isabelle can be combined with the constraint solver Z3 to efficiently detect inconsistencies in two or more behavioural models and, in their absence, generate the composition. Here, we extend our approach further and show how to generate the correct composition (as a set of valid traces) of dephased models. This work has been inspired by a problem from a medical domain where different care pathways (for chronic conditions) may be applied to the same patient with different starting points.Postprin

Compositionality for Quantitative Specifications

We provide a framework for compositional and iterative design and verification of systems with quantitative information, such as rewards, time or energy. It is based on disjunctive modal transition systems where we allow actions to bear various types of quantitative information. Throughout the design process the actions can be further refined and the information made more precise. We show how to compute the results of standard operations on the systems, including the quotient (residual), which has not been previously considered for quantitative non-deterministic systems. Our quantitative framework has close connections to the modal nu-calculus and is compositional with respect to general notions of distances between systems and the standard operations