CSL model checking of Deterministic and Stochastic Petri Nets

Deterministic and Stochastic Petri Nets (DSPNs) are a widely used high-level formalism for modeling discrete-event systems where events may occur either without consuming time, after a deterministic time, or after an exponentially distributed time. The underlying process dened by DSPNs, under certain restrictions, corresponds to a class of Markov Regenerative Stochastic Processes (MRGP). In this paper, we investigate the use of CSL (Continuous Stochastic Logic) to express probabilistic properties, such a time-bounded until and time-bounded next, at the DSPN level. The verication of such properties requires the solution of the steady-state and transient probabilities of the underlying MRGP. We also address a number of semantic issues regarding the application of CSL on MRGP and provide numerical model checking algorithms for this logic. A prototype model checker, based on SPNica, is also described

Software Engineering Timeline: major areas of interest and multidisciplinary trends

Ingeniería del software. EvolucionSociety today cannot run without software and by extension, without Software Engineering. Since this discipline emerged in 1968, practitioners have learned valuable lessons that have contributed to current practices. Some have become outdated but many are still relevant and widely used. From the personal and incomplete perspective of the authors, this paper not only reviews the major milestones and areas of interest in the Software Engineering timeline helping software engineers to appreciate the state of things, but also tries to give some insights into the trends that this complex engineering will see in the near future

Iceberg transport technologies in spatial competition. Hotelling reborn

Transport costs in address models of differentiation are usually modeled as separable of the consumption commodity and with a parametric price. However, there are many sectors in an economy where such modeling is not satisfactory either because transportation is supplied under oligopolistic conditions or because there is a difference (loss) between the amount delivered at the point of production and the amount received at the point of consumption. This paper is a first attempt to tackle these issues proposing to study competition in spatial models using an iceberg-like transport cost technology allowing for concave and convex melting functions.Spatial Competition, Iceberg transport costs

Automating Fine Concurrency Control in Object-Oriented Databases

Several propositions were done to provide adapted concurrency control to object-oriented databases. However, most of these proposals miss the fact that considering solely read and write access modes on instances may lead to less parallelism than in relational databases! This paper cope with that issue, and advantages are numerous: (1) commutativity of methods is determined a priori and automatically by the compiler, without measurable overhead, (2) run-time checking of commutativity is as efficient as for compatibility, (3) inverse operations need not be specified for recovery, (4) this scheme does not preclude more sophisticated approaches, and, last but not least, (5) relational and object-oriented concurrency control schemes with read and write access modes are subsumed under this proposition

Unscented Bayesian Optimization for Safe Robot Grasping

We address the robot grasp optimization problem of unknown objects considering uncertainty in the input space. Grasping unknown objects can be achieved by using a trial and error exploration strategy. Bayesian optimization is a sample efficient optimization algorithm that is especially suitable for this setups as it actively reduces the number of trials for learning about the function to optimize. In fact, this active object exploration is the same strategy that infants do to learn optimal grasps. One problem that arises while learning grasping policies is that some configurations of grasp parameters may be very sensitive to error in the relative pose between the object and robot end-effector. We call these configurations unsafe because small errors during grasp execution may turn good grasps into bad grasps. Therefore, to reduce the risk of grasp failure, grasps should be planned in safe areas. We propose a new algorithm, Unscented Bayesian optimization that is able to perform sample efficient optimization while taking into consideration input noise to find safe optima. The contribution of Unscented Bayesian optimization is twofold as if provides a new decision process that drives exploration to safe regions and a new selection procedure that chooses the optimal in terms of its safety without extra analysis or computational cost. Both contributions are rooted on the strong theory behind the unscented transformation, a popular nonlinear approximation method. We show its advantages with respect to the classical Bayesian optimization both in synthetic problems and in realistic robot grasp simulations. The results highlights that our method achieves optimal and robust grasping policies after few trials while the selected grasps remain in safe regions.Comment: conference pape

Resilient Distributed Energy Management for Systems of Interconnected Microgrids

In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, when some of them do not comply with the distributed algorithm that is applied to the system, the performance of the system might be compromised. Specifically, it is considered that adversarial agents (microgrids with their controllers) might implement control inputs that are different than the ones obtained from the distributed algorithm. By performing such behavior, these agents might have better performance at the expense of deteriorating the performance of the regular agents. This paper proposes a methodology to deal with this type of adversarial agents such that we can still guarantee that the regular agents can still obtain feasible, though suboptimal, control inputs in the presence of adversarial behaviors. The methodology consists of two steps: (i) the robustification of the underlying optimization problem and (ii) the identification of adversarial agents, which uses hypothesis testing with Bayesian inference and requires to solve a local mixed-integer optimization problem. Furthermore, the proposed methodology also prevents the regular agents to be affected by the adversaries once the adversarial agents are identified. In addition, we also provide a sub-optimality certificate of the proposed methodology.Comment: 8 pages, Conference on Decision and Control (CDC) 201

Real-time 3D reconstruction of non-rigid shapes with a single moving camera

© . This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper describes a real-time sequential method to simultaneously recover the camera motion and the 3D shape of deformable objects from a calibrated monocular video. For this purpose, we consider the Navier-Cauchy equations used in 3D linear elasticity and solved by finite elements, to model the time-varying shape per frame. These equations are embedded in an extended Kalman filter, resulting in sequential Bayesian estimation approach. We represent the shape, with unknown material properties, as a combination of elastic elements whose nodal points correspond to salient points in the image. The global rigidity of the shape is encoded by a stiffness matrix, computed after assembling each of these elements. With this piecewise model, we can linearly relate the 3D displacements with the 3D acting forces that cause the object deformation, assumed to be normally distributed. While standard finite-element-method techniques require imposing boundary conditions to solve the resulting linear system, in this work we eliminate this requirement by modeling the compliance matrix with a generalized pseudoinverse that enforces a pre-fixed rank. Our framework also ensures surface continuity without the need for a post-processing step to stitch all the piecewise reconstructions into a global smooth shape. We present experimental results using both synthetic and real videos for different scenarios ranging from isometric to elastic deformations. We also show the consistency of the estimation with respect to 3D ground truth data, include several experiments assessing robustness against artifacts and finally, provide an experimental validation of our performance in real time at frame rate for small mapsPeer ReviewedPostprint (author's final draft

MathMC: A mathematica-based tool for CSL model checking of deterministic and stochastic Petri nets

Deterministic and Stochastic Petri Nets (DSPNs) are a widely used high-level formalism for modeling discreteevent systems where events may occur either without consuming time, after a deterministic time, or after an exponentially distributed time. CSL (Continuous Stochastic Logic) is a (branching) temporal logic developed to express probabilistic properties in continuous time Markov chains (CTMCs). In this paper we present a Mathematica-based tool that implements recent developments for model checking CSL style properties on DSPNs. Furthermore, as a consequence of the type of process underlying DSPNs (a superset of Markovian processes), we are also able to check CSL properties of Generalized Stochastic Petri Nets (GSPNs) and labeled CTMCs

Tuple-based abstract data types: full parallelism

International audienceCommutativity has the same inherent limitations as compatibility. Then, it is worth conceiving simple concurrency control techniques. We propose a restricted form of commutativity which increases parallelism without incurring a higher overhead than compatibility. Advantages of our proposition are: (1) commutativity of operations is determined at compile-time, (2) run-time checking is as efficient as for compatibility, (3) neither commutativity relations, (4) nor inverse operations, need to be specified, and (5) log space utilization is reduced

What Are the Factors Behind Pay Settlements? Evidence from Spanish and British Data

This article presents a study of the determinants of pay settlements in a sample of Spanish and British establishments. We find that variables such as establishment size and age, foreign ownership, labour costs, the existence of internal labour markets, a strategic approach to human resource management and pay setting institutions are related to the factors that shape pay adjustments. Moreover, our findings show that there are significant differences in the determinants of pay settlements between Spain and Great Britain. We suggest that the labour market institutions developed in each country influence pay setting decisions.compensation systems, labor market institutions, wage settlements, establishment level data