Real world applications of action description languages involve systems that have real-time constraints. The occurrence of an action is just as important as the time at which the action occurs. In order to be able to ...
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ISBN:
(纸本)3540326545
Real world applications of action description languages involve systems that have real-time constraints. The occurrence of an action is just as important as the time at which the action occurs. In order to be able to model such real-time systems, the action description language A is extended with real-time clocks and constraints. The formal syntax and semantics of the extended language are defined, and the use of logic programming as a means to an implementation of real-time A is discussed.
Hybrid approximate linear programming (HALP) has recently emerged as a promising approach to solving large factored Markov decision processes (MDPs) with discrete and continuous state and action variables. Its central...
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Hybrid approximate linear programming (HALP) has recently emerged as a promising approach to solving large factored Markov decision processes (MDPs) with discrete and continuous state and action variables. Its central idea is to reformulate initially intractable problem of computing the optimal value function as its linear programming approximation. In this work, we present the HALP framework and discuss several representational and computational issues that make the approach appropriate for large MDPs. We compare three different methods for solving HALP and demonstrate the feasibility of the approach on high-dimensional distributed control problems.
The development of autonomous agents, such as mobile robots and software agents, has generated considerable research in recent years. Robotic systems, which are usually built from a mixture of continuous (analog) and ...
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The development of autonomous agents, such as mobile robots and software agents, has generated considerable research in recent years. Robotic systems, which are usually built from a mixture of continuous (analog) and discrete (digital) components, are often referred to as hybrid dynamical systems. Traditional approaches to real-time hybrid systems usually define behaviors purely in terms of determinism or sometimes non-determinism. However, this is insufficient as real-time dynamical systems very often exhibit uncertain behavior. To address this issue, we develop a semantic model, Probabilistic Constraint Nets (PCN), for probabilistic hybrid systems. PCN captures the most general structure of dynamic systems, allowing systems with discrete and continuous time/variables, synchronous as well as asynchronous event structures and uncertain dynamics to be modeled in a unitary framework. Based on a formal mathematical paradigm exploiting abstract algebra, topology and measure theory, PCN provides a rigorous formal programming semantics for the design of hybrid real-time embedded systems exhibiting uncertainty.
This paper studies the optimal least squares (LS) and minimax design of hybrid filter bank analog to digital converters (HFB ADCs) using second order cone programming (SOCP). The resulting problem is convex and it all...
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Recent progress in Biology and data-production technologies push research toward a new interdisciplinary field, named systems Biology, where the challenge is to break the complexity walls for reasoning about large bio...
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ISBN:
(纸本)3540326545
Recent progress in Biology and data-production technologies push research toward a new interdisciplinary field, named systems Biology, where the challenge is to break the complexity walls for reasoning about large biomolecular interaction systems. Pioneered by Regev, Silverman and Shapiro, the application of process calculi to the description of biological processes has been a source of inspiration for many researchers coming from the programming language community. In this presentation, we give an overview of the Biochemical Abstract Machine (BIOCHAM), in which biochemical systems are modeled using a simple language of reaction rules, and the biological properties of the system, known from experiments, are formalized in temporal logic. In this setting, the biological validation of a model can be done by model-checking, both qualitatively and quantitatively. Moreover, the temporal properties can be turned into specifications for learning modifications or refinements of the model, when incorporating new biological knowledge.
Ubiquitous applications usually involve highly interactive context data management. Traditional general-purpose programming languages are not sufficient for use in this domain, as they do not have the capability to ma...
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ISBN:
(纸本)3540462872
Ubiquitous applications usually involve highly interactive context data management. Traditional general-purpose programming languages are not sufficient for use in this domain, as they do not have the capability to manage such data effectively. We have developed a scenario-based programming language that we call 'PLUE (programming Language for Ubiquitous Environment)', which is a Java-based prototyping language for ubiquitous application development. PLUE supports ECA (event-condition-action) rules and finite state automata-based (FSA-based) interactive responses to dynamic situations. In addition, PLUE programmers are able to manage heterogeneous data with a uniform view of path expressions. We have implemented PLUE on top of CAMUS (Context-Aware Middleware for Ubiquitous Robotic Companion System), a framework for context-aware applications that was originally developed for network-based robots.
The next generation of robots will have to learn new tasks or refine the existing ones through direct interaction with the environment or through a teaching/coaching process in programming by Demonstration (PbD) and L...
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A vision-based measurement method for robot orientation error is presented. The measurement can be completed by performing extrinsic parameters calibration twice, before and after the movement of the robot end-effecto...
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ISBN:
(纸本)0780393953
A vision-based measurement method for robot orientation error is presented. The measurement can be completed by performing extrinsic parameters calibration twice, before and after the movement of the robot end-effector. It only needs a camera and a planar calib board. The process of the measurement is easy and quick with a high degree of accuracy. Experiments show that the angle error of the proposed method is lower than 0.1, and the orientation error representation is robust to the error produced in the measurement process.
Automatic memory management or garbage collection greatly simplifies the development of large systems. However garbage collection is usually not used in real-time systems due to the unpredictable temporal behavior of ...
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ISBN:
(纸本)076952561X
Automatic memory management or garbage collection greatly simplifies the development of large systems. However garbage collection is usually not used in real-time systems due to the unpredictable temporal behavior of current implementations of a garbage collector In this paper we propose a concurrent collector that is scheduled periodically in the same way as ordinary application threads. We provide an upper bound for the collector period so that the application threads never run out of memory.
In this paper, an Application programming Interface for Wireless Sensor Networks (WSN API) is presented. The WSN API consists of a client-side API (Gateway API) and a sensor-side API (Node API). The WSN API conceals t...
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