A system model is developed where the criterion to partition the world into a system and a rest is based on the functional relation between its states. This approach implies that the gestalt of systems becomes very dynamic. Especially interactions between systems may create temporary super systems "on the fly". The reference to the function notion establishes the link to computation. Based on the distinction between the intended determinism versus nondeterminism of the interaction, two classes of system interactions are distinguished: composition and cooperation. Composition means that by interaction super systems are created and the interacting systems become subsystems. Cooperation means that systems sensibly interact loosely without creating any identifiable super system function and therefore without super system creation from the perspective of the interacting systems. Cooperative system interactions are described with the help of the protocol notion based on shared states, interpreted as the stateful exchange of characters via Shannon channels between roles - the projection of systems onto the interaction channels. It is shown that roles can be internally coordinated by a set of rules, leading to a very flexible process notion which unfolds its full potential only in a new type of execution environment capable of executing spontaneous transitions. The system model has immediate implications for componentization which can be viewed as an attempt to either hide functional recursion and provide only functionality whose composition behavior is easy to understand, or to provide loosely coupled interactions via protocols. To be complete, component models should therefore at least support three general classes of components: one for loose coupling, one for hierarchical composition, and one for pipes.
BIP stands for Behavior, Interaction, and Priority @cite_54 @cite_16 @cite_57 . It is a general framework to describe reactive systems from certain parts with a set of rules. In my view, BIP is a way to describe computational systems in the sense of this article: a BIP-component provides states and a transition function. By its priority mechanism, together with a given port, there is supposed to be a unique transition to be selected.
@cite_57 @cite_54 @cite_16
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An autonomous robot case study illustrates the use of the behavior, interaction, priority (BIP) component framework as a unifying semantic model to ensure correctness of essential system design properties. We present a methodology for modeling heterogeneous real-time components. Components are obtained as the superposition of three layers : Behavior, specified as a set of transitions; Interactions between transitions of the behavior; Priorities, used to choose amongst possible interactions. A parameterized binary composition operator is used to compose components layer by layer. We present the BIP language for the description and composition of layered components as well as associated tools for executing and analyzing components on a dedicated platform. The language provides a powerful mechanism for structuring interactions involving rendezvous and broadcast. We show that synchronous and timed systems are particular classes of components. Finally, we provide examples showing the utility of the BIP framework in heterogeneous component modeling. We present a methodology for modeling heterogeneous real-time components. Components are obtained as the superposition of three layers : Behavior, specified as a set of transitions; Interactions between transitions of the behavior; Priorities, used to choose amongst possible interactions. A parameterized binary composition operator is used to compose components layer by layer. We present the BIP language for the description and composition of layered components as well as associated tools for executing and analyzing components on a dedicated platform. The language provides a powerful mechanism for structuring interactions involving rendezvous and broadcast. We show that synchronous and timed systems are particular classes of components. Finally, we provide examples and compare the BIP framework to existing ones for heterogeneous component-based modeling. Functional Reactive Programming , or FRP , is a general framework for programming hybrid systems in a high-level, declarative manner. The key ideas in FRP are its notions of behaviors and events . Behaviors are time-varying, reactive values, while events are time-ordered sequences of discrete-time event occurrences. FRP is the essence of Fran , a domain-specific language embedded in Haskell for programming reactive animations, but FRP is now also being used in vision, robotics and other control systems applications. In this paper we explore the formal semantics of FRP and how itrelates to an implementation based on streams that represent (and therefore only approximate) continuous behaviors. We show that, in the limit as the sampling interval goes to zero, the implementation is faithful to the formal, continuous semantics, but only when certain constraints on behaviors are observed. We explore the nature of these constraints, which vary amongst the FRP primitives. Our results show both the power and limitations of this approach to language design and implementation. As an example of a limitation, we show that streams are incapable of representing instantaneous predicate events over behaviors. Massachusetts Institute of Technology and the University of Washington Reactive point processes (RPPs) are a new statistical model designed for predicting discrete events in time, based on past history. RPPs were developed to handle an important problem within the domain of electrical grid reliability: short term prediction of electrical grid failures (“manhole events”), including outages, fires, explosions, and smoking manholes, which can cause threats to public safety and reliability of electrical service in cities. RPPs incorporate self-exciting, self-regulating, and saturating components. The self-excitement occurs as a result of a past event, which causes a temporary rise in vulnerability to future events. The self-regulation occurs as a result of an external inspection which temporarily lowers vulnerability to future events. RPPs can saturate when too many events or inspections occur close together, which ensures that the probability of an event stays within a realistic range. Two of the operational challenges for power companies are i) making continuous-time failure predictions, and ii) cost benefit analysis for decision making and proactive maintenance. RPPs are naturally suited for handling both of these challenges. We use the model to predict power-grid failures in Manhattan over a short term horizon, and use to provide a cost benefit analysis of different proactive maintenance programs. Bilinear inverse problems (BIPs), the resolution of two vectors given their image under a bilinear mapping, arise in many applications. Without further constraints, BIPs are usually ill-posed. In practice, the properties of natural signals are exploited to solve BIPs. For example, subspace constraints or sparsity constraints are imposed to reduce the search space. These approaches have shown some success in practice. However, there are few results on uniqueness in BIPs. For most BIPs, the fundamental question of under what condition the problem admits a unique solution is yet to be answered. For example, blind gain and phase calibration (BGPC) is a structured BIP, which arises in many applications, including inverse rendering in computational relighting (albedo estimation with unknown lighting), blind phase and gain calibration in sensor array processing, and multichannel blind deconvolution (MBD). It is interesting to study the uniqueness of such problems. In this paper, we define identifiability of a BIP up to a group of transformations. We derive necessary and sufficient conditions for such identifiability, i.e., the conditions under which the solutions can be uniquely determined up to the transformation group. These conditions take the form of dividing the identifiability of the pair of unknown variables into the individual identifiability of each variable. Although verifying these individual conditions requires problem-specific procedures, this framework is universally applicable to all BIPs. Applying these results to BGPC, we derive sufficient conditions for unique recovery under several scenarios, including subspace, joint sparsity, and sparsity models. For BGPC with joint sparsity or sparsity constraints, we develop a procedure to compute the transformation groups corresponding to inherent ambiguities. We also give necessary conditions in the form of tight lower bounds on sample complexities, and demonstrate the tightness of these bounds by numerical experiments. The results for BGPC not only demonstrate the application of the proposed general framework for identifiability analysis, but are also of interest in their own right. We present a principled and efficient planning algorithm for cooperative multiagent dynamic systems. A striking feature of our method is that the coordination and communication between the agents is not imposed, but derived directly from the system dynamics and function approximation architecture. We view the entire multiagent system as a single, large Markov decision process (MDP), which we assume can be represented in a factored way using a dynamic Bayesian network (DBN). The action space of the resulting MDP is the joint action space of the entire set of agents. Our approach is based on the use of factored linear value functions as an approximation to the joint value function. This factorization of the value function allows the agents to coordinate their actions at runtime using a natural message passing scheme. We provide a simple and efficient method for computing such an approximate value function by solving a single linear program, whose size is determined by the interaction between the value function structure and the DBN. We thereby avoid the exponential blowup in the state and action space. We show that our approach compares favorably with approaches based on reward sharing. We also show that our algorithm is an efficient alternative to more complicated algorithms even in the single agent case. Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive applications, this paper develops a methodology that allows safety conditions—expressed as control barrier functions —to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers. Safety conditions are specified in terms of forward invariance of a set, and are verified via two novel generalizations of barrier functions; in each case, the existence of a barrier function satisfying Lyapunov-like conditions implies forward invariance of the set, and the relationship between these two classes of barrier functions is characterized. In addition, each of these formulations yields a notion of control barrier function (CBF), providing inequality constraints in the control input that, when satisfied, again imply forward invariance of the set. Through these constructions, CBFs can naturally be unified with control Lyapunov functions (CLFs) in the context of a quadratic program (QP); this allows for the achievement of control objectives (represented by CLFs) subject to conditions on the admissible states of the system (represented by CBFs). The mediation of safety and performance through a QP is demonstrated on adaptive cruise control and lane keeping, two automotive control problems that present both safety and performance considerations coupled with actuator bounds. Distributed decentralized implementation of systems of communicating processes raises non-trivial problems. Correct execution of multiparty interactions, subject to priority rules, requires sophisticated mechanisms for runtime conflict detection and resolution. We propose a method for detection of false conflicts which combines partial observation of the system's state and apriori knowledge extracted from invariants. We propose heuristics for determining optimal sets of observations leading to implementations with particular guarantees. We provide preliminary experimental results on an implementation of the method in the BIP framework. In a scheduling problem where agents can opt out, we show that the familiar random priority RP mechanism can be improved upon by another mechanism dubbed probabilistic serial PS. Both mechanisms are nonmanipulable in a strong sense, but the latter is Pareto superior to the former and serves a larger expected number of agents. The PS equilibrium outcome is easier to compute than the RP outcome; on the other hand, RP is easier to implement than PS. We show that the improvement of PS over RP is significant but small: at most a couple of percentage points in the relative welfare gain and the relative difference in quantity served. Both gains vanish when the number of agents is large; hence both mechanisms can be used as a proxy of each other. Cognitive radio (CR) is a revolution in radio technology and is viewed as an enabling technology for dynamic spectrum access. This paper investigates how to design distributed algorithm for a future multi-hop CR network, with the objective of maximizing data rates for a set of user communication sessions. We study this problem via a cross-layer optimization approach, with joint consideration of power control, scheduling, and routing. The main contribution of this paper is the development of a distributed optimization algorithm that iteratively increases data rates for user communication sessions. During each iteration, there are two separate processes, a Conservative Iterative Process (CIP) and an Aggressive Iterative Process (AIP). For both CIP and AIP, we describe our design of routing, minimalist scheduling, and power control scheduling modules. To evaluate the performance of the distributed optimization algorithm, we compare it to an upper bound of the objective function, since the exact optimal solution to the objective function cannot be obtained via its mixed integer nonlinear programming (MINLP) formulation. Since the achievable performance via our distributed algorithm is close to the upper bound and the optimal solution (unknown) lies between the upper bound and the feasible solution obtained by our distributed algorithm, we conclude that the results obtained by our distributed algorithm are very close to the optimal solution. Context-oriented programming (COP) provides dedicated support for defining and composing variations to a basic program behavior. A variation, which is defined within a layer, can be de- activated for the dynamic extent of a code block. While this mechanism allows for control flow-specific scoping, expressing behavior adaptations can demand alternative scopes. For instance, adaptations can depend on dynamic object structure rather than control flow. We present scenarios for behavior adaptation and identify the need for new scoping mechanisms. The increasing number of scoping mechanisms calls for new language abstractions representing them. We suggest to open the implementation of scoping mechanisms so that developers can extend the COP language core according to their specific needs. Our open implementation moves layer composition into objects to be affected and with that closer to the method dispatch to be changed. We discuss the implementation of established COP scoping mechanisms using our approach and present new scoping mechanisms developed for our enhancements to Lively Kernel. We propose a methodology for hiding all sensitive frequent itemsets in a transaction database. Our methodology relies on a novel technique that enumerates the minimal transversals of a hypergraph in order to induce the ideal border between frequent and sensitive itemsets. The ideal border is then utilized to formulate an integer linear program (ILP) that answers whether a feasible sanitized database that attains the ideal border, exists. The solution of the program identifies the set of transactions that need to be modified (sanitized) so that the hiding can be achieved with the maximum accuracy. If no solution exists, we modify the ILP by relaxing the constraints needed to be satisfied so that the sanitized database preserves the privacy with guarantee but with minimum effect in data quality. Experimental evaluation of the proposed approach on a number of real datasets has shown that the produced sanitized databases exhibit higher accuracy when compared with the solutions of other well-known approaches. This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to compute a motion, the time available being a function of the dynamicity of the environment. Now, given the intrinsic complexity of MP, computing a complete motion to the goal within the time available is impossible to achieve in most real situations. Partial motion planning (PMP) is the answer to this problem proposed in this paper. PMP is a motion planning scheme with an anytime flavor: when the time available is over, PMP returns the best partial motion to the goal computed so far. Like reactive navigation scheme, PMP faces a safety issue: what guarantee is there that the system will never end up in a critical situation yielding an inevitable collision? The answer proposed in this paper to this safety issue relies upon the concept of inevitable collision states (ICS). ICS takes into account the dynamics of both the system and the moving obstacles. By computing ICS-free partial motion, the system safety can be guaranteed. Application of PMP to the case of a car-like system in a dynamic environment is presented. We present a method for the translation of a discrete-time fragment of Simulink into the synchronous subset of the BIP language. The translation is fully compositional, that is, it preserves completely the original structure and reveals the minimal control coordination structure needed to perform the correct computation within Simulink models. Additionally, this translation can be seen as providing an alternative operational semantics of Simulink models using BIP. The advantages are twofold. It allows for integration of Simulink models within heterogeneous BIP designs. It enables the use of validation and automatic implementation techniques already available for BIP on Simulink models. The translation is currently implemented in the Simulink2BIP tool. We report several experiments, in particular, we show that the executable code generated from BIP models has comparable runtime performances as the code produced by the Real-Time Workshop on several Simulink models. We study resolving conflicts between an action description and a set of conditions (possibly obtained from observations), in the context of action languages. In this formal framework, the meaning of an action description can be represented by a transition diagram---a directed graph whose nodes correspond to states and whose edges correspond to transitions describing action occurrences. This allows us to characterize conflicts by means of states and transitions of the given action description that violate some given conditions. We introduce a basic method to resolve such conflicts by modifying the action description, and discuss how the user can be supported in obtaining more preferred solutions. For that, we identify helpful questions the user may ask (e.g., which specific parts of the action description cause a conflict with some given condition), and we provide answers to them using properties of action descriptions and transition diagrams. Finally, we discuss the computational complexity of these questions in terms of related decision problems. Privacy and integrity are important security concerns. These concerns are addressed by controlling information flow, i.e., restricting how information can flow through a system. Most proposed systems that restrict information flow make the implicit assumption that the hardware used by the system is fully correct'' and that the hardware's instruction set accurately describes its behavior in all circumstances. The truth is more complicated: modern hardware designs defy complete verification; many aspects of the timing and ordering of events are left totally unspecified; and implementation bugs present themselves with surprising frequency. In this work we describe Sapper, a novel hardware description language for designing security-critical hardware components. Sapper seeks to address these problems by using static analysis at compile-time to automatically insert dynamic checks in the resulting hardware that provably enforce a given information flow policy at execution time. We present Sapper's design and formal semantics along with a proof sketch of its security. In addition, we have implemented a compiler for Sapper and used it to create a non-trivial secure embedded processor with many modern microarchitectural features. We empirically evaluate the resulting hardware's area and energy overhead and compare them with alternative designs. Pickup and delivery problems (PDPs), in which objects or people have to be transported between specific locations, are among the most common combinatorial problems in real-world logistical operations. A widely-encountered type of PDP is the Stacker Crane Problem (SCP), where each commodity customer is associated with a pickup location and a delivery location, and the objective is to find a minimum-length tour visiting all locations with the constraint that each pickup location and its associated delivery location are visited in immediate, consecutive order. The SCP is NP-Hard and the best known approximation algorithm only provides a 9 5 approximation ratio. In this paper, we examine an embedding of the SCP within a stochastic framework, and our objective is three-fold: First, we describe a large class of algorithms for the SCP, where every member is asymptotically optimal, i.e., it produces, almost surely, a solution approaching the optimal one as the number of pickups deliveries goes to infinity; moreover, one can achieve computational complexity O(n2+e) within the class, where n is the number of pickup delivery pairs and e is an arbitrarily small positive constant. Second, we characterize the length of the optimal SCP tour asymptotically. Finally, we study a dynamic version of the SCP, whereby pickup and delivery requests arrive according to a Poisson process, and which serves as a model for large-scale demand-responsive transport (DRT) systems. For such a dynamic counterpart of the SCP, we derive a necessary and sufficient condition for the existence of stable vehicle routing policies, which depends only on the workspace geometry, the distributions of pickup and delivery points, the arrival rate of requests, and the number of vehicles. Our results leverage a novel connection between the Euclidean Bipartite Matching Problem and the theory of random permutations, and, for the dynamic setting, exhibit novel features that are absent in traditional spatially-distributed queueing systems. In this paper, we leverage the efficiency of Binarized Neural Networks (BNNs) to learn complex state transition models of planning domains with discretized factored state and action spaces. In order to directly exploit this transition structure for planning, we present two novel compilations of the learned factored planning problem with BNNs based on reductions to Weighted Partial Maximum Boolean Satisfiability (FD-SAT-Plan+) as well as Binary Linear Programming (FD-BLP-Plan+). Theoretically, we show that our SAT-based Bi-Directional Neuron Activation Encoding is asymptotically the most compact encoding in the literature and maintains the generalized arc-consistency property through unit propagation -- an important property that facilitates efficiency in SAT solvers. Experimentally, we validate the computational efficiency of our Bi-Directional Neuron Activation Encoding in comparison to an existing neuron activation encoding and demonstrate the effectiveness of learning complex transition models with BNNs. We test the runtime efficiency of both FD-SAT-Plan+ and FD-BLP-Plan+ on the learned factored planning problem showing that FD-SAT-Plan+ scales better with increasing BNN size and complexity. Finally, we present a finite-time incremental constraint generation algorithm based on generalized landmark constraints to improve the planning accuracy of our encodings through simulated or real-world interaction. In the Markov decision process (MDP) formalization of reinforcement learning, a single adaptive agent interacts with an environment defined by a probabilistic transition function. In this solipsis-tic view, secondary agents can only be part of the environment and are therefore fixed in their behavior. The framework of Markov games allows us to widen this view to include multiple adaptive agents with interacting or competing goals. This paper considers a step in this direction in which exactly two agents with diametrically opposed goals share an environment. It describes a Q-learning-like algorithm for finding optimal policies and demonstrates its application to a simple two-player game in which the optimal policy is probabilistic.