Model Checking Classes of Metric LTL Properties of Object-Oriented Real-Time Maude Specifications

This paper presents a transformational approach for model checking two important classes of metric temporal logic (MTL) properties, namely, bounded response and minimum separation, for nonhierarchical object-oriented Real-Time Maude specifications. We prove the correctness of our model checking algorithms, which terminate under reasonable non-Zeno-ness assumptions when the reachable state space is finite. These new model checking features have been integrated into Real-Time Maude, and are used to analyze a network of medical devices and a 4-way traffic intersection system.Comment: In Proceedings RTRTS 2010, arXiv:1009.398

A Rewriting-Logic-Based Technique for Modeling Thermal Systems

This paper presents a rewriting-logic-based modeling and analysis technique for physical systems, with focus on thermal systems. The contributions of this paper can be summarized as follows: (i) providing a framework for modeling and executing physical systems, where both the physical components and their physical interactions are treated as first-class citizens; (ii) showing how heat transfer problems in thermal systems can be modeled in Real-Time Maude; (iii) giving the implementation in Real-Time Maude of a basic numerical technique for executing continuous behaviors in object-oriented hybrid systems; and (iv) illustrating these techniques with a set of incremental case studies using realistic physical parameters, with examples of simulation and model checking analyses.Comment: In Proceedings RTRTS 2010, arXiv:1009.398

Formal Model Engineering for Embedded Systems Using Real-Time Maude

This paper motivates why Real-Time Maude should be well suited to provide a formal semantics and formal analysis capabilities to modeling languages for embedded systems. One can then use the code generation facilities of the tools for the modeling languages to automatically synthesize Real-Time Maude verification models from design models, enabling a formal model engineering process that combines the convenience of modeling using an informal but intuitive modeling language with formal verification. We give a brief overview six fairly different modeling formalisms for which Real-Time Maude has provided the formal semantics and (possibly) formal analysis. These models include behavioral subsets of the avionics modeling standard AADL, Ptolemy II discrete-event models, two EMF-based timed model transformation systems, and a modeling language for handset software.Comment: In Proceedings AMMSE 2011, arXiv:1106.596

Extending the Real-Time Maude Semantics of Ptolemy to Hierarchical DE Models

This paper extends our Real-Time Maude formalization of the semantics of flat Ptolemy II discrete-event (DE) models to hierarchical models, including modal models. This is a challenging task that requires combining synchronous fixed-point computations with hierarchical structure. The synthesis of a Real-Time Maude verification model from a Ptolemy II DE model, and the formal verification of the synthesized model in Real-Time Maude, have been integrated into Ptolemy II, enabling a model-engineering process that combines the convenience of Ptolemy II DE modeling and simulation with formal verification in Real-Time Maude.Comment: In Proceedings RTRTS 2010, arXiv:1009.398

A Fully Automated High-Throughput Training System for Rodents

Addressing the neural mechanisms underlying complex learned behaviors requires training animals in well-controlled tasks, an often time-consuming and labor-intensive process that can severely limit the feasibility of such studies. To overcome this constraint, we developed a fully computer-controlled general purpose system for high-throughput training of rodents. By standardizing and automating the implementation of predefined training protocols within the animal’s home-cage our system dramatically reduces the efforts involved in animal training while also removing human errors and biases from the process. We deployed this system to train rats in a variety of sensorimotor tasks, achieving learning rates comparable to existing, but more laborious, methods. By incrementally and systematically increasing the difficulty of the task over weeks of training, rats were able to master motor tasks that, in complexity and structure, resemble ones used in primate studies of motor sequence learning. By enabling fully automated training of rodents in a home-cage setting this low-cost and modular system increases the utility of rodents for studying the neural underpinnings of a variety of complex behaviors

A neural circuit mechanism for regulating vocal variability during song learning in zebra finches

Motor skill learning is characterized by improved performance and reduced motor variability. The neural mechanisms that couple skill level and variability, however, are not known. The zebra finch, a songbird, presents a unique opportunity to address this question because production of learned song and induction of vocal variability are instantiated in distinct circuits that converge on a motor cortex analogue controlling vocal output. To probe the interplay between learning and variability, we made intracellular recordings from neurons in this area, characterizing how their inputs from the functionally distinct pathways change throughout song development. We found that inputs that drive stereotyped song-patterns are strengthened and pruned, while inputs that induce variability remain unchanged. A simple network model showed that strengthening and pruning of action-specific connections reduces the sensitivity of motor control circuits to variable input and neural ‘noise’. This identifies a simple and general mechanism for learning-related regulation of motor variability. DOI: http://dx.doi.org/10.7554/eLife.03697.00

Retinal Adaptation to Object Motion

Due to fixational eye movements, the image on the retina is always in motion, even when one views a stationary scene. When an object moves within the scene, the corresponding patch of retina experiences a different motion trajectory than the surrounding region. Certain retinal ganglion cells respond selectively to this condition, when the motion in the cell's receptive field center is different from that in the surround. Here we show that this response is strongest at the very onset of differential motion, followed by gradual adaptation with a time course of several seconds. Different subregions of a ganglion cell's receptive field can adapt independently. The circuitry responsible for differential motion adaptation lies in the inner retina. Several candidate mechanisms were tested, and the adaptation most likely results from synaptic depression at the synapse from bipolar to ganglion cell. Similar circuit mechanisms may act more generally to emphasize novel features of a visual stimulus

Vocal Experimentation in the Juvenile Songbird Requires a Basal Ganglia Circuit

Songbirds learn their songs by trial-and-error experimentation, producing highly variable vocal output as juveniles. By comparing their own sounds to the song of a tutor, young songbirds gradually converge to a stable song that can be a remarkably good copy of the tutor song. Here we show that vocal variability in the learning songbird is induced by a basal-ganglia-related circuit, the output of which projects to the motor pathway via the lateral magnocellular nucleus of the nidopallium (LMAN). We found that pharmacological inactivation of LMAN dramatically reduced acoustic and sequence variability in the songs of juvenile zebra finches, doing so in a rapid and reversible manner. In addition, recordings from LMAN neurons projecting to the motor pathway revealed highly variable spiking activity across song renditions, showing that LMAN may act as a source of variability. Lastly, pharmacological blockade of synaptic inputs from LMAN to its target premotor area also reduced song variability. Our results establish that, in the juvenile songbird, the exploratory motor behavior required to learn a complex motor sequence is dependent on a dedicated neural circuit homologous to cortico-basal ganglia circuits in mammals

A Retinal Circuit That Computes Object Motion

Certain ganglion cells in the retina respond sensitively to differential motion between the receptive field center and surround, as produced by an object moving over the background, but are strongly suppressed by global image motion, as produced by the observer's head or eye movements. We investigated the circuit basis for this object motion sensitive (OMS) response by recording intracellularly from all classes of retinal interneurons while simultaneously recording the spiking output of many ganglion cells. Fast, transient bipolar cells respond linearly to motion in the receptive field center. The synaptic output from their terminals is rectified and then pooled by the OMS ganglion cell. A type of polyaxonal amacrine cell is driven by motion in the surround, again via pooling of rectified inputs, but from a different set of bipolar cell terminals. By direct intracellular current injection, we found that these polyaxonal amacrine cells selectively suppress the synaptic input of OMS ganglion cells. A quantitative model of these circuit elements and their interactions explains how an important visual computation is accomplished by retinal neurons and synapses.Molecular and Cellular Biolog

Using the PALS Architecture to Verify a Distributed Topology Control Protocol for Wireless Multi-Hop Networks in the Presence of Node Failures

The PALS architecture reduces distributed, real-time asynchronous system design to the design of a synchronous system under reasonable requirements. Assuming logical synchrony leads to fewer system behaviors and provides a conceptually simpler paradigm for engineering purposes. One of the current limitations of the framework is that from a set of independent "synchronous machines", one must compose the entire synchronous system by hand, which is tedious and error-prone. We use Maude's meta-level to automatically generate a synchronous composition from user-provided component machines and a description of how the machines communicate with each other. We then use the new capabilities to verify the correctness of a distributed topology control protocol for wireless networks in the presence of nodes that may fail.Comment: In Proceedings RTRTS 2010, arXiv:1009.398