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Adding liveness to behavioral programming: theory, implementation, and user study

REQUIREMENTS ENGINEERING 2025年 1-23页

作者： Yaacov, Tom Elyasaf, Achiya Weiss, Gera Ben Gurion Univ Negev Beer Sheva Israel

This paper investigates how behavioral programming (BP), and executable specifications in general, can more effectively align models with requirements, addressing a key motivation behind BP's development. While BP has traditionally supported safety requirements-defining what a system may, must, and must not do-it lacks direct mechanisms for expressing liveness requirements, which ensure that certain tasks are eventually completed. We introduce a "must-finish" idiom for BP, allowing explicit specification of liveness requirements. We demonstrate how this approach allows for the direct representation of common requirements patterns, supported by a user study that highlights positive outcomes, particularly in improving the alignment between software components and their corresponding requirements. While formal modeling languages that allow specification of liveness requirements are mostly used in the context of model-checking and synthesis, the focus of BP is on the executability of the model. To this end, we propose two execution mechanisms: one based on translation to B & uuml;chi automata and another using Markov decision processes (MDP), with the latter offering scalability through deep reinforcement learning. A formal analysis of the MDP-based mechanism is provided, together with qualitative and quantitative evaluations of a proof-of-concept tool.

关键词： behavioral programming Executable specifications Requirement engineering Liveness

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Towards behavioral programming in distributed architectures

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SCIENCE OF COMPUTER programming 2015年第Part2期98卷 233-267页

作者： Harel, David Kantor, Amir Katz, Guy Marron, Assaf Weiss, Gera Wiener, Guy Weizmann Inst Sci IL-76100 Rehovot Israel IBM Res Haifa Lab Mt Cannel Israel Ben Gurion Univ Negev IL-84105 Beer Sheva Israel HP Labs Haifa Israel

As part of expanding the implementation and use of the behavioral programming (BP) approach in a variety of languages and configurations, we tackle some of the challenges associated with applying the approach in a truly distributed, decentralized manner, where different modules run on separate machines. BP supports the development of reactive applications from modules that are aligned with the desired and undesired scenarios of system behaviors as described, say, in a requirements document, in an enhancement request, or a field problem report. A key advantage of this approach is that it facilitates incremental development where loosely coupled modules are added as requirements are introduced, and meaningful prototype execution can be carried out from early stages of development. In BP, each behavioral module (called a behavior thread) takes care of a separate facet of the requirements, thus control is conceptually decentralized. However, as the underlying principles of BP call for constant synchronization of, and "consultation" with, all behavior threads, efficient implementation in a physically distributed environment is a significant challenge on the road to broader acceptance of BP as a viable new way to develop systems. We begin by describing an implementation of BP in Erlang, where the coordination protocol is implemented via message passing. We demonstrate through examples how developing distributed systems in Erlang can benefit from BP advantages of incremental development and alignment of the code modules with the requirements. Next, we propose general BP design patterns (not limited to Erlang) for using BP in distributed applications, showing how to design applications using BP without forcing full synchronization among all threads at each step of the execution. This allows modules to run at different time scales and to wait for external input without stalling the entire system. Finally, we propose ways to alter the execution mechanism of BP so that executi

关键词： behavioral programming Live sequence charts Logical execution time Time scales Synchronization

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behavioral programming: Enabling a “Middle-Out” Approach to Learning and Intelligent Systems

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IFAC Proceedings Volumes 1998年第29期31卷 29-34页

作者： Michael S. Branicky EE Program Case Western Reserve University

Motivated by biology and a study of complex systems, intelligent behavior is typically associated with a hierarchical structure, where the lowest level is usually characterized by continuous-variable dynamics and the highest by a logical decisionmaking mechanism. Consistent with biological findings, we instantiate a particular version of such a hierarchy: a “Middle-out Architecture.” Significant there is the plasticity of circuits on both layers, as well as plasticity in their interactions. Intelligent systems must accomplish two broad tasks within this architecture. Based on experience, they must tune their lower-level, continuous, sensorimotor circuits to produce local behaviors that are viable and robust to slight environmental changes. Predicated on focus of attention on sensory input, they must modulate and coordinate these local behaviors to maintain situational relevance and accomplish global goals. Hence, if we are to understand learning and intelligent systems, we must develop ways of behavioral programming (taking symbolic descriptions of tasks and predictably translating them into dynamic descriptions that can be composed out of lower-level controllers) and co-modulation (simultaneously tuning continuous lower-level and symbolic higher-level circuits and their interactions). Herein, we begin the study of the first of these problems,

关键词： Learning behavioral programming dynamic programming hybrid systems intelligent control

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Research on UAV Navigation System Based on behavioral programming 7

Research on UAV Navigation System Based on Behavioral Progra...

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7th International Conference on Automation Electronics and Electrical Engineering

作者： Xu, Yue Saledforce Serv Cloud Redmond WA 98052 USA

ISBN: (纸本)9798350377040;9798350377033

With the rapid development of UAV technology, its applications in various fields have become increasingly widespread, especially in navigation and path planning in complex environments, which have become key issues. This paper proposes a new UAV navigation system design based on behavioral programming theory, utilizing a modular design approach to achieve flexible path planning and obstacle avoidance. The system design focuses on the control algorithms of behavioral programming, path planning algorithms, and dynamic adjustment and optimization of UAV behavior. Experimental results demonstrate that the system achieves high navigation accuracy and obstacle avoidance capability in complex environments, enhancing the autonomy and safety of the UAV. Finally, the performance of the system is evaluated, and future research directions and optimization suggestions are proposed.

关键词： UAV navigation system behavioral programming path planning obstacle avoidance algorithm dynamic adjustment

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Structured behavioral programming Idioms 18th

Structured Behavioral Programming Idioms

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18th International Conference on Business Process Modeling, Development and Support (BPMDS) / 22nd International Conference on Evaluation and Modeling Methods for Systems Analysis and Development (EMMSAD)

作者： Ashrov, Adiel Gordon, Michal Marron, Assaf Sturm, Arnon Weiss, Gera Ben Gurion Univ Negev Beer Sheva Israel Holon Inst Technol Holon Israel Weizmann Inst Sci Rehovot Israel

ISBN: (纸本)9783319594668;9783319594651

behavioral programming (BP) is a modelling and programming technique proposed for specifying and for implementing complex reactive systems. While effective, we report on a weakness that stems from the verbosity and from the complexity of the programming constructs in BP. Our analysis, described in this paper, shows that developers who work with BP use specific patterns that allow them to control the complexity of their specification. Thus, the main contribution of this paper is a set of specification constructs that represent those patterns. We report on the design of the new idioms, termed structured constructs for behavioral programming and on an empirical evaluation in a controlled experiment that proved their effectiveness. In particular, the experiment examined the comprehensibility differences between behavioral specifications with non-structured BP programming idioms and with the structured ones. The results indicate that the new structures improve the comprehension of the behavioral specification.

关键词： behavioral modeling behavioral specification behavioral programming Experimentation Abstraction Comprehension

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Designing rule-based conversational agents with behavioral programming: a study of human subjects

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EUROMED JOURNAL OF BUSINESS 2023年第3期18卷 345-358页

作者： Rosenfeld, Ariel Haimovich, Nitzan Bar Ilan Univ Ramat Gan Israel

Purpose In this work, the authors propose to harness the advantages of behavioral programming as a new technique for designing rule-based conversational agents. Design/methodology/approach To examine the study's hypotheses, the authors perform a first-of-its-kind user study through which the authors examine how potential designers, both expert designers, computationally-oriented designers, and otherwise, leverage behavioral programming (BP) and dialog graphs for designing conversational agents (CAs). The authors also use two standard CA settings common in the literature: designing a CA representative for a user in an online dating service and a non-character player in a role-playing game (RPG). Findings The study's results indicate that BP can be successfully utilized by computationally-oriented designers, with or without prior knowledge in CA design, and can facilitate the design of better CAs (i.e. more accurate and more robust). However, to capitalize on these potential advantages, designers may be required to devote more time to the design process and are likely to encounter higher temporal demand levels. These results suggest that BP, which was initially proposed and evaluated in the general context of software design, can constitute a valuable alternative to the classic rule-based CA design technique commonly practiced today. Research limitations/implications An important limitation of this study is the relatively small participant pool. While the authors do plan to extend this study in the future, the current coronavirus disease 2019 (COVID-19) situation makes it ever more complex to conduct formal user studies of this kind. It is, however, important to note that despite the low number of participants, many of the results are found to be statistically significant. Practical implications The authors plan to continue this line of work and conduct human studies for additional design techniques in other popular agent-based settings. Specifically, the authors seek

关键词： behavioral programming Conversational agents Human study

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A Portable Approach to High-Level behavioral programming for Complex Autonomous Robot Applications

A Portable Approach to High-Level Behavioral Programming for...

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作者： Hurdus, Jesse Gutierrez Virginia Tech | University

Research in mobile robotics, unmanned systems, and autonomous man-portable vehicles has grown rapidly over the last decade. This push has taken the problems of robot cognition and behavioral control out of the lab and into the field. Two good examples of this are the DARPA Urban Challenge autonomous vehicle race and the RoboCup robot soccer competition. In these challenges, a mobile robot must be capable of completing complex, sophisticated tasks in a dynamic, partially observable and unpredictable environment. Such conditions necessitate a behavioral programming approach capable of performing high-level action selection in the presence of multiple goals of dynamically changing importance, and noisy, incomplete perception data. In this thesis, an approach to behavioral programming is presented that provides the designer with an intuitive method for building contextual intelligence while preserving the qualities of emergent behavior present in traditional behavior-based programming. This is done by using a modified hierarchical state machine for behavior arbitration in sequence with a command fusion mechanism for cooperative and competitive control. The presented approach is analyzed with respect to portability across platforms, missions, and functional requirements. Specifically, two landmark case-studies, the DARPA Urban Challenge and the International RoboCup Competition are examined.

关键词： behavioral programming Action Selection DARPA Urban Challenge VictorTango RoboCup Hybrid Architecture Unmanned Systems Autonomous Vehicles Thesis

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Context-Oriented behavioral programming

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INFORMATION AND SOFTWARE TECHNOLOGY 2021年 133卷 106504-106504页

作者： Elyasaf, Achiya Ben Gurion Univ Negev Dept Software & Informat Syst Engn Beer Sheva Israel

Context: Modern systems require programmers to develop code that dynamically adapts to different contexts, leading to the evolution of new context-oriented programming languages. These languages introduce new software-engineering challenges, such as: how to maintain the separation of concerns of the codebase? how to model the changing behaviors? how to verify the system behavior? and more. Objective: This paper introduces Context-Oriented behavioral programming (COBP) - a novel paradigm for developing context-aware systems, centered on natural and incremental specification of context-dependent behaviors. As the name suggests, we combine behavioral-programming (BP) - a scenario-based modeling paradigm - with context idioms that explicitly specify when scenarios are relevant and what information they need. The core idea is to connect the behavioral model with a data model that represents the context, allowing an intuitive connection between the models via update and select queries. Combining behavioral-programming with context-oriented programming brings the best of the two worlds, solving issues that arise when using each of the approaches in separation. Methods: We begin with providing abstract semantics for COBP and two implementations for the semantics, laying the foundations for applying reasoning algorithms to context-aware behavioral programs. Next, we exemplify the semantics with formal specifications of systems, including a variant of Conway's Game of Life. Then, we provide two case studies of real-life context-aware systems (one in robotics and another in IoT) that were developed using this tool. Throughout the examples and case studies, we provide design patterns and a methodology for coping with the above challenges. Results: The case studies show that the proposed approach is applicable for developing real-life systems, and presents measurable advantages over the alternatives - behavioral programming alone and context-oriented programming alone. Conclusio

关键词： behavioral programming Scenario-based programming programming paradigm Context awareness Context-oriented programming Context-Oriented behavioral programming

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BPpy: behavioral programming in Python

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SOFTWAREX 2023年 24卷

作者： Yaacov, Tom Ben Gurion Univ Negev IL-84105 Beer Sheva Israel

This paper presents BPpy, a novel framework for behavioral programming (BP) in Python. Designed with a flexible architecture, BPpy is crafted for easy integration with various Python platforms and systems, enabling the utilization of scenario-based programming for creating enhanced models for artificial intelligence (AI) -driven systems and vice versa. We illustrate how BPpy implements the principles of BP and extends them towards integrating with existing AI-based tools. The framework's core principles and design are presented, followed by a comparison of its main features against those of current state-of-the-art BP-based frameworks.

关键词： behavioral programming Artificial intelligence

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programming social behavior by the maternal fragile X protein

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GENES BRAIN AND BEHAVIOR 2016年第6期15卷 578-587页

作者： Zupan, B. Sharma, A. Frazier, A. Klein, S. Toth, M. Weill Cornell Med Coll Dept Pharmacol 1300 York Ave New York NY 10065 USA Vassar Coll Dept Psychol 124 Raymond Ave Poughkeepsie NY 12604 USA

The developing fetus and neonate are highly sensitive to maternal environment. Besides the well-documented effects of maternal stress, nutrition and infections, maternal mutations, by altering the fetal, perinatal and/or early postnatal environment, can impact the behavior of genetically normal offspring. Mutation/premutation in the X-linked FMR1 (encoding the translational regulator FMRP) in females, although primarily responsible for causing fragile X syndrome (FXS) in their children, may also elicit such maternal effects. We showed that a deficit in maternal FMRP in mice results in hyperactivity in the genetically normal offspring. To test if maternal FMRP has a broader intergenerational effect, we measured social behavior, a core dimension of neurodevelopmental disorders, in offspring of FMRP-deficient dams. We found that male offspring of Fmr(1+/-) mothers, independent of their own Fmr1 genotype, exhibit increased approach and reduced avoidance toward conspecific strangers, reminiscent of 'indiscriminate friendliness' or the lack of stranger anxiety, diagnosed in neglected children and in patients with Asperger's and Williams syndrome. Furthermore, social interaction failed to activate mesolimbic/amygdala regions, encoding social aversion, in these mice, providing a neurobiological basis for the behavioral abnormality. This work identifies a novel role for FMRP that extends its function beyond the well-established genetic function into intergenerational non-genetic inheritance/programming of social behavior and the corresponding neuronal circuit. As FXS premutation and some psychiatric conditions that can be associated with reduced FMRP expression are more prevalent in mothers than full FMR1 mutation, our findings potentially broaden the significance of FMRP-dependent programming of social behavior beyond the FXS population.

关键词： Amygdala behavioral programming dopamine fragile X mental retardation protein maternal effect mice neural circuit neurodevelopmental disorders social behavior social behavior disorders

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