Conversion and verification procedure for goal-based control programs

Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is developed and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems

A critical perspective on heterodox production modeling

Production and distribution needs a proper place in heterodox economics. It has recently been suggested that the construction of production models needs to be empirically grounded. Also it has been stated that empirically grounded production models must be circular production models. This argument then marginalizes the contributions of important economists in heterodox thought. The paper will argue that heterodox production models need not be perfectly circular to make important contributions for heterodox production theory. Furthermore, it will be argued that models which consist of elements of hierarchial structures of production put emphasis on out of equilibrium traverse processes and historical time.Heterodox Economic Theory; Heterodox Price and Production Modeling

The Regional Benefits of the Employer of Last Resort Program

The Employer of Last Resort (ELR) program is a New Deal type of program to provide a government position for anyone seeking work. Unlike private industries who compete over prices and wages, the ELR “industry” is not meant to compete with the private sector; rather it provides public services that are not offered by the private sector. The task here is to estimate the private sector effects of the implementation of the ELR program for the State of Missouri.Employer of Last Resort; Input-output Modeling; Heterodox Microfoundations of Macroeconomics

Space station structural dynamics/reaction control system interaction study

The performance of the Reaction Control System is impacted by the extreme flexibility of the space station structure. The method used to analyze the periodic thrust profile of a simple form of phase plane logic is presented. The results illustrate the effect on flexible body response of the type of phase plane logic utilized and the choice of control parameters: cycle period and attitude deadband

The Making of a Good Society: Economic Freedom, Instrumentalism, and Government Control

The article discusses the incompatibility of promoting individual interests of capitalists and workers with the promotion of macroeconomic goals of society. The article implements the ``instrumental method'' developed by Adolph Lowe, and articulates the separation of microeconomic goals with macroeconomic objectives. Using full employment as a case study, the article articulates the proper role for government in achieving and maintaining full employment in a capitalist society. Further it is seen that such an approach also promotes the self interests of capitalists. The approach taken in this article offers an alternative to the failed policies of neoliberalism.Instrumentalism, instrumental inference, neoliberalism, F.A. Hayek, Adolph Lowe, full employment, unemployment, employer of last resort

Graph Laplacians and Stabilization of Vehicle Formations

Control of vehicle formations has emerged as a topic of significant interest to the controls community. In this paper, we merge tools from graph theory and control theory to derive stability criteria for formation stabilization. The interconnection between vehicles (i.e., which vehicles are sensed by other vehicles) is modeled as a graph, and the eigenvalues of the Laplacian matrix of the graph are used in stating a Nyquist-like stability criterion for vehicle formations. The location of the Laplacian eigenvalues can be correlated to the graph structure, and therefore used to identify desirable and undesirable formation interconnection topologies

A critical assessment of marine aquarist biodiversity data and commercial aquaculture:identifying gaps in culture initiatives to inform local fisheries managers

It is widely accepted that if well managed, the marine aquarium trade could provide socio-economic stability to local communities while incentivising the maintenance of coral reefs. However, the trade has also been implicated as having potentially widespread environmental impacts that has in part driven developments in aquaculture to relieve wild collection pressures. This study investigates the biodiversity in hobbyist aquaria (using an online survey) and those species currently available from an aquaculture source (commercial data and hobbyist initiatives) in the context of a traffic light system to highlight gaps in aquaculture effort and identify groups that require fisheries assessments. Two hundred and sixty nine species including clown fish, damsels, dotty backs, angelfish, gobies, sea horses and blennies, have reported breeding successes by hobbyists, a pattern mirrored by the European and US commercial organisations. However, there is a mismatch (high demand and low/non-existent aquaculture) for a number of groups including tangs, starfish, anemones and hermit crabs, which we recommend are priority candidates for local stock assessments. Hobbyist perception towards the concept of a sustainable aquarium trade is also explored with results demonstrating that only 40% of respondents were in agreement with industry and scientists who believe the trade could be an exemplar of a sustainable use of coral reefs. We believe that a more transparent evidence base, including the publication of the species collected and cultured, will go some way to align the concept of a sustainable trade across industry stakeholders and better inform the hobbyist when purchasing their aquaria stock. We conclude by proposing that a certification scheme established with government support is the most effective way to move towards a self-regulating industry. It would prevent industry "greenwashing" from multiple certification schemes, alleviate conservation concerns, and, ultimately, support aquaculture initiatives alongside well managed ornamental fisheries

Information flow and cooperative control of vehicle formations

We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of this is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability

On a dynamic reaction-diffusion mechanism: The spatial patterning of teeth primordia in the alligator

It is now well established both theoretically and, more recently, experimentally, that steady-state spatial chemical concentration patterns can be formed by a number of specific reaction–diffusion systems. Reaction–diffusion models have been widely applied to biological pattern formation problems. Here we propose a model mechanism for the initiation and spatial positioning of teeth primordia in the alligator, Alligator mississippiensis, which, from a reaction–diffusion theory, introduces, among other things, a new element, namely the effect of domain growth on dynamic spatial pattern formation. Detailed embryological studies by Westergaard and Ferguson (B. Westergaard and M. W. J. Ferguson, J. Zool. Lond., 1986, 210, 575; 1987, 212, 191; Am. J. Anatomy, 1990, 187, 393) show that jaw growth plays a crucial role in the developmental patterning of the tooth initiation process. Based on biological data we develop a reaction–diffusion mechanism, which crucially includes domain growth. The model can reproduce the spatial pattern development of the first seven teeth primordia in the lower half jaw of A. mississippiensis. The results for the precise spatio temporal sequence compare well with detailed developmental experiments

Patterns theory and geodesic automatic structure for a class of groups

We introduce a theory of "patterns" in order to study geodesics in a certain class of group presentations. Using patterns we show that there does not exist a geodesic automatic structure for certain group presentations, and that certain group presentations are almost convex.Comment: Appeared in 2003. I am putting all my past papers on arxi