Inevitability properties in branching temporal logics are of the syntax forall eventually , where is an arbitrary (timed) CTL formula. In the sense that "good things will happen", they are parallel to the "liveness" properties in linear temporal logics. Such inevitability properties in dense-time logics can be analyzed with greatest fixpoint calculation. We present algorithms to model-check inevitability properties both with and without requirement of non-Zeno computations. We discuss a technique for early decision on greatest fixpoints in the temporal logics, and experiment with the effect of non-Zeno computations on the evaluation of greatest fixpoints. We also discuss the TCTL subclass with only universal path quantifiers which allows for the safe abstraction analysis of inevitability properties. Finally, we report our implementation and experiments to show the plausibility of our ideas.
Kronos @cite_8 @cite_9 is a full TCTL model-checker with DBM technology and both forward and backward reasoning capability. Experiments to demonstrate how to use Kronos to verify several TCTL bounded inevitability properties is demonstrated in @cite_9 . ( Bouonded inevitabilities are those inevitabilities specified with a deadline.) But no report has been made on how to enhance the performance of general inevitability analysis. In comparison, we have discussed techniques like EDGF and abstractions which handle both bounded and unbounded inevitabilities.
@cite_9 @cite_8
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This paper presents an inference algorithm that can discover temporal logic properties of a system from data. Our algorithm operates on finite time system trajectories that are labeled according to whether or not they demonstrate some desirable system properties (e.g. "the car successfully stops before hitting an obstruction"). A temporal logic formula that can discriminate between the desirable behaviors and the undesirable ones is constructed. The formulae also indicate possible causes for each set of behaviors (e.g. "If the speed of the car is greater than 15 m s within 0.5s of brake application, the obstruction will be struck") which can be used to tune designs or to perform on-line monitoring to ensure the desired behavior. We introduce reactive parameter signal temporal logic (rPSTL), a fragment of parameter signal temporal logic (PSTL) that is expressive enough to capture causal, spatial, and temporal relationships in data. We define a partial order over the set of rPSTL formulae that is based on language inclusion. This order enables a directed search over this set, i.e. given a candidate rPSTL formula that does not adequately match the observed data, we can automatically construct a formula that will fit the data at least as well. Two case studies, one involving a cattle herding scenario and one involving a stochastic hybrid gene circuit model, are presented to illustrate our approach. In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors. We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of extended Kalman filter (EKF)-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation where the state vector comprises a sliding window of poses (the multi-state-constraint Kalman filter (MSCKF)) attains better accuracy, consistency, and computational efficiency than the simultaneous localization and mapping (SLAM) formulation of the EKF, in which the state vector contains the current pose and the features seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent, due to the way in which Jacobians are computed. Specifically, we show that the observability properties of the EKF's linearized system models do not match those of the underlying system, which causes the filters to underestimate the uncertainty in the state estimates. Based on our analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent estimation by (i) ensuring the correct observability properties of its linearized system model, and (ii) performing online estimation of the camera-to-inertial measurement unit (IMU) calibration parameters. This algorithm, which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even an iterative, sliding-window fixed-lag smoother, in both Monte Carlo simulations and real-world testing. We address the verification problem of finite-state concurrent programs running under weak memory models. These models capture the reordering of program (read and write) operations done by modern multi-processor architectures for performance. The verification problem we study is crucial for the correctness of concurrency libraries and other performance-critical system services employing lock-free synchronization, as well as for the correctness of compiler backends that generate code targeted to run on such architectures. We consider in this paper combinations of three well-known program order relaxations. We consider first the "write to read" relaxation, which corresponds to the TSO (Total Store Ordering) model. This relaxation is used in most hardware architectures available today. Then, we consider models obtained by adding either (1) the "write to write" relaxation, leading to a model which is essentially PSO (Partial Store Ordering), or (2) the "read to read write" relaxation, or (3) both of them, as it is done in the RMO (Relaxed Memory Ordering) model for instance. We define abstract operational models for these weak memory models based on state machines with (potentially unbounded) FIFO buffers, and we investigate the decidability of their reachability and their repeated reachability problems. We prove that the reachability problem is decidable for the TSO model, as well as for its extension with "write to write" relaxation (PSO). Furthermore, we prove that the reachability problem becomes undecidable when the "read to read write" relaxation is added to either of these two memory models, and we give a condition under which this addition preserves the decidability of the reachability problem. We show also that the repeated reachability problem is undecidable for all the considered memory models. Received 28 May 2002; revised 18 September 2002; accepted 24 September 2002; published 14 February 2003. [1] When an inverse problem is solved to estimate an unknown function such as the hydraulic conductivity in an aquifer or the contamination history at a site, one constraint is that the unknown function is known to be everywhere nonnegative. In this work, we develop a statistically rigorous method for enforcing function nonnegativity in Bayesian inverse problems. The proposed method behaves similarly to a Gaussian process with a linear variogram (i.e., unrestricted Brownian motion) for parameter values significantly greater than zero. The method uses the method of images to define a prior probability density function based on reflected Brownian motion that implicitly enforces nonnegativity. This work focuses on problems where the unknown is a function of a single variable (e.g., time). A Markov chain Monte Carlo (MCMC) method, specifically, a highly efficient Gibbs sampler, is implemented to generate conditional realizations of the unknown function. The new method is applied to the estimation of the trichloroethylene (TCE) and perchloroethylene (PCE) contamination history in an aquifer at Dover Air Force Base, Delaware, based on concentration profiles obtained from an underlying aquitard. INDEX TERMS: 1831 Hydrology: Groundwater quality; 1869 Hydrology: Stochastic processes; 3260 Mathematical Geophysics: Inverse theory; KEYWORDS: stochastic inverse modeling, contaminant source identification, inference under constraints, Markov chain Monte Carlo (MCMC), Gibbs sampling, Bayesian inference