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

Remarks on a population-level model of chemotaxis: advection-diffusion approximation and simulations

This note works out an advection-diffusion approximation to the density of a population of E. coli bacteria undergoing chemotaxis in a one-dimensional space. Simulations show the high quality of predictions under a shallow-gradient regime

Pentagon theory dan model beneish M-score

Fraudulent financial reporting is defined as fraud committed by the management of a company by providing a false picture of the financial statements, which, of course, harms investors and other related parties. This research aims to analyze the effect of fraud using the pentagon theory. The Pentagon fraud theory is measured by financial targets, financial stability, external pressure, institutional ownership, ineffective monitoring, changes in KAP, changes in directors, and the number of photos of members. President, Director The sampling method used is purposive sampling. The sample consists of 41 companies from 168 manufacturing companies that are the research population for 2018–2020. This study shows that the financial target variable has an effect on financial reporting fraud, while financial stability, external pressure, institutional ownership, ineffective supervision, KAP changes, director changes, and the number of photos of the main director have no effect on fraudulent financial reporting

Prototropic and metallotropic migration of isolobal fragments on indol rings. Theoretical study and NBO analysis

Molecular structures, energies, NBO analysis and sigmatropic behaviour of 1-Indenyl(dihydro)borane (1) and 1-Indenyl-threecarbonylcobalt(I) (2) were investigated using DFT and ab initio molecular orbital methods. In these compounds BH2 and Co(CO)3 fragments areisolobal. The Results of calculations using B3LYP, HF and MP2methods [Basis set 6-311+G**] showed that -BH2 and -Co(CO)3 had similar behaviour in sigmatropic shifts. Prototropic shifts in compounds 1 and 2 have similar mechanisms too. Results showed that metallotrotropic shift is faster than Prototrpic shift in compounds 1 and 2. The activation energies (Ea) of Prototropic shift in compounds 1 and 2 are 18.83 and 17.38 kcal.mol-1. These energies are higher than -BH2 shifts in compound 1 (10.11 kcal.mol-1) or migration of -Co(CO)3 fragment in compound 2 (12.39 kcal.mol-1). Lower amount of activation energy in borotropic shift and cobalt`s fragment shift show that rotation of boron and cobalt on the indol ring can happen in the ambient temperature. Calculation results revealed that migration of proton and Co(CO)3 was carried out via suprafacial[1,2]-sigmatropic mechanism while -BH2 shift took place via antrafacial [1,3]-rearangment.Â