Reconfiguration of Autonomous Robotics

Author(s):  
Yujian Fu ◽  
Steven Drager

Autonomous robotics systems (ARSs) consist of multiple heterogeneous objects and intelligent inferences that are expected to take appropriate actions even in unforeseen circumstances. Dynamic reconfiguration of ARSs is a key enabling technology and plays a major role in the future cyber-enabled battle field. This research work, focused on the development of a formal approach to the specification and verification of reconfigurability of ARSs. Two typical problems w.r.t. the dynamic adaptation and reconfiguration of ARSs were identified and studied. The first problem is how to formally represent the ARSs and describe the reconfigurable behavior precisely so that the ARSs can adapt to the new changes. The second problem focuses on how to analyze and verify the formal model of the reconfiguration and ensure the correctness of the system during reconfiguration. Considering behavior preserving in the reconfiguration model, a net reconfigurations based on the natural transformation is introduced.

2019 ◽  
pp. 1511-1527
Author(s):  
Yujian Fu ◽  
Steven Drager

Autonomous robotics systems (ARSs) consist of multiple heterogeneous objects and intelligent inferences that are expected to take appropriate actions even in unforeseen circumstances. Dynamic reconfiguration of ARSs is a key enabling technology and plays a major role in the future cyber-enabled battle field. This research work, focused on the development of a formal approach to the specification and verification of reconfigurability of ARSs. Two typical problems w.r.t. the dynamic adaptation and reconfiguration of ARSs were identified and studied. The first problem is how to formally represent the ARSs and describe the reconfigurable behavior precisely so that the ARSs can adapt to the new changes. The second problem focuses on how to analyze and verify the formal model of the reconfiguration and ensure the correctness of the system during reconfiguration. Considering behavior preserving in the reconfiguration model, a net reconfiguration based on the natural transformation is introduced.


Author(s):  
Martin Helgoson ◽  
Lihui Wang ◽  
Robin Karlsson ◽  
Mohammad Givehchi ◽  
Mikael Tedeborg

In global enterprises an essential challenge is how to enable efficient sharing of knowledge, capacity, and resources in order to meet demands on speed, flexibility and adaptability. This paper highlights challenges and aspects regarding framework and technical platform for process planning that enable global multi-site collaboration. To get an industrial perspective, this topic is discussed in the context of Sandvik Coromant’s globally distributed application centers. Further on, function block technology as enabling technology to achieve flexible and adaptable process planning as a part of the framework is presented and discussed together with results from the on-going research work.


Author(s):  
Ajantha Dahanayake

Historically the focus is on the theory of how problem-specific systems design tools can be supported by a Computer Aided Method Engineering (CAME) environment based on service object representation. To arrive at an implementation model, the conceptual model of the service object representation must be formalized. This theory is feasible when there is adequate computer support. Many researchers have emphasized strongly that requirement specification languages should have a rigorous formal basis; however, this need for formality has not been generally acknowledged in the field of information systems development. Most organizations and research groups tend to define their own methods using techniques advocated within such methods that often have no formal foundation. Discussions of modeling techniques are based on numerous examples, mostly using diagrams and notational conventions, to provide a popular style for the definition of new concepts and their behavior. In a CAME environment however, which gives the freedom to specify a modeling technique from scratch, it is difficult to avoid deficiencies such as inconsistency, lack of structure, over specification, incompleteness, ambiguity, and redundancy without using a formal approach. In automated support a formal model is used to provide stable specifications for implementation. In fact, an implementation can be seen as another, enormously detailed formal description, usually in an imperative programming language. To implement this sophisticated automated support, formal specifications of the CAME service description with adequate formal reasoning were derived earlier. In this chapter the concentration is on using representation formalism to construct a problem-specific CAME environment. Such an automated support environment must be provided for the information systems design stage in particular for the required UpperCASE tools according to the methods chosen for the problem situations. The vision is that CAME environments must function as a service-based, object-oriented MetaCASE environment that offers the services required for modeling tools, and using a mechanism to interpret the required modeling knowledge and changing the visual representation to the required form using a graphic object binding mechanism. Further, this environment must offer a mechanism for the populations of models specified according to such UpperCASE tools.


Author(s):  
Ajantha Dahanayake

Historically the focus is on the theory of how problem-specific systems design tools can be supported by a Computer Aided Method Engineering (CAME) environment based on service object representation. To arrive at an implementation model, the conceptual model of the service object representation must be formalized. This theory is feasible when there is adequate computer support. Many researchers have emphasized strongly that requirement specification languages should have a rigorous formal basis; however, this need for formality has not been generally acknowledged in the field of information systems development. Most organizations and research groups tend to define their own methods using techniques advocated within such methods that often have no formal foundation. Discussions of modeling techniques are based on numerous examples, mostly using diagrams and notational conventions, to provide a popular style for the definition of new concepts and their behavior. In a CAME environment however, which gives the freedom to specify a modeling technique from scratch, it is difficult to avoid deficiencies such as inconsistency, lack of structure, over specification, incompleteness, ambiguity, and redundancy without using a formal approach. In automated support a formal model is used to provide stable specifications for implementation. In fact, an implementation can be seen as another, enormously detailed formal description, usually in an imperative programming language. To implement this sophisticated automated support, formal specifications of the CAME service description with adequate formal reasoning were derived earlier.


2004 ◽  
Vol 32 (1) ◽  
Author(s):  
Marco Winkler

AbstractThis paper discusses the relationship of logic and linguistics and pleads for logic-based formal model building in linguistic theory. At first, I describe the assignments and the purpose of logic in arts in general and the interrelation between logic and linguistics. Taking into account philosophical conditions and the subject of both, language, I argue for a functional-linguistic point of view. A detailed investigation is devoted to the concept of predicates. Based on logical theory, namely the non-traditional theory of predication and the term-theory developed by A. A. Sinowjew and H. Wessel, a formal approach to modelling linguistic comprehensions of predicates is devised. On this base I carry out a logical reconstruction of some concepts of linguistic theory, like the quantitative and qualitative features of arguments and their thematic roles, and explain their relations to logical predicate-argument-structures. In a further step predicate forming operations are used to describe and to reconstruct diatheses, argument deletion and the influence of mass terms on predication. By this, I want to introduce formal tools for the explanation of such natural-language phenomena and line out how the formal results allow to solve several puzzles.


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