Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus

In this paper, we present a thorough integration of qualitative representations and reasoning for positional information for domestic service robotics domains into our high-level robot control. In domestic settings for service robots like in the RoboCup@Home competitions, complex tasks such as “get the cup from the kitchen and bring it to the living room” or “find me this and that object in the apartment” have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as “near” or “far”, the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy set-based qualitative concepts. We now extend our framework to positional fuzzy fluents with an associated positional context called frames. With that and our underlying reasoning mechanism we can transform qualitative positional information from one context to another to account for changes in context such as the point of view or the scale. We demonstrate how qualitative positional fluents based on a fuzzy set semantics can be deployed in domestic domains and showcase how reasoning with these qualitative notions can seamlessly be applied to a fetch-and-carry task in a RoboCup@Home scenario.     

An approach to the DIN Kernel Lisp definition

A DIN Kernel LISP Draft (DKLisp) has been developed by DIN as Reaction to Action D1 (N79), short term goal, of ISO WG16. It defines a subset language, as compatible as possible with the ANSICommon-Lisp draft, but also with theEuLisp draft. It combines the most important LISP main stream features in a single, compact, but nevertheless complete language definition, which thereby could be well suited as basis for a short term InternationalLisp Standard. Besides the functional and knowledge processing features, the expressive power of the language is well comparable with contemporary procedural languages, as e.g. C++ (of course without libraries). Important features ofDKLisp are:

to be a “Lisp-1,” but allowing an easy “Lisp-2” transformation;

to be a simple, powerful and standardized educationalLisp;

to omit all features, which are unclean or in heavy discussion;

DKLisp programs run nearly unchanged inCommon-Lisp;

DKLisp contains a simple object and package system;

DKLisp contains those data classes and control structures also common to most modernLisp and non-Lisp languages;

DKLisp offers a simple stream I/O;

DKLisp contains a clean unified hierarchical class/type system;

DKLisp contains the typical “Lisp-features” in an orthogonal way;

DKLisp allows and encourages really small but powerful implementations;

DKLisp comes in levels, so allowing ANSICommon-Lisp to be an extension ofDKLisp level-1.

The present is the second version of the proposal, namely version 1.2, with slight differences with respect to the one sent to ISO. Sources of such changes were the remarks generously sent by many readers of the previous attempt.     

An Efficient Scalable Runtime System for Macro Data Flow Processing Using S-Net

S-Net is a declarative coordination language and component technology aimed at radically facilitating software engineering for modern parallel compute systems by near-complete separation of concerns between application (component) engineering and concurrency orchestration. S-Net builds on the concept of stream processing to structure networks of communicating asynchronous components implemented in a conventional (sequential) language. In this paper we present the design, implementation and evaluation of a new and innovative runtime system for S-Net streaming networks. The Front runtime system outperforms the existing implementations of S-Net by orders of magnitude for stress-test benchmarks, significantly reduces runtimes of fully-fledged parallel applications with compute-intensive components and achieves good scalability on our 48-core test system.     

The clock constraint specification language for building timed causality models

The uml Profile for Modeling and Analysis of Real-Time and Embedded (RTE) systems has recently been adopted by the OMG. Its Time Model extends the informal and simplistic Simple Time package proposed by Unified Modeling Language (UML2) and offers a broad range of capabilities required to model RTE systems including discrete/dense and chronometric/logical time. The Marte specification introduces a Time Structure inspired from several time models of the concurrency theory and proposes a new clock constraint specification language (ccsl) to specify, within the context of the uml, logical and chronometric time constraints. A semantic model in ccsl is attached to a (uml) model to give its timed causality semantics. In that sense, ccsl is comparable to the Ptolemy environment, in which directors give the semantics to models according to predefined models of computation and communication. This paper focuses on one historical model of computation of Ptolemy [Synchronous Data Flow (SDF)] and shows how to build SDF graphs by combining uml models and ccsl.     

The Mizar Mathematical Library in OMDoc: Translation and Applications

The Mizar Mathematical Library is one of the largest libraries of formalized and mechanically verified mathematics. Its language is highly optimized for authoring by humans. As in natural languages, the meaning of an expression is influenced by its (mathematical) context in a way that is natural to humans, but harder to specify for machine manipulation. Thus its custom file format can make the access to the library difficult. Indeed, the Mizar system itself is currently the only system that can fully operate on the Mizar library. This paper presents a translation of the Mizar library into the OMDoc format (Open Mathematical Documents), an XML-based representation format for mathematical knowledge. OMDoc is geared towards machine support and interoperability by making formula structure and context dependencies explicit. Thus, the Mizar library becomes accessible for a wide range of OMDoc-based tools for formal mathematics and knowledge management. We exemplify interoperability by indexing the translated library in the MathWebSearch engine, which provides an “applicable theorem search” service (almost) out of the box.     

Markov Chain Analysis of Self-organizing Mobile Nodes

Self-organization of autonomous mobile nodes using bio-inspired algorithms in mobile ad hoc networks (manets) has been presented in earlier work of the authors. In this paper, the convergence speed of our force-based genetic algorithm (called fga) is provided through analysis using homogeneous Markov chains. The fga is run by each mobile node as a topology control mechanism to decide a corresponding node??s next speed and movement direction so that it guides an autonomous mobile node over an unknown geographical area to obtain a uniform node distribution while only using local information. The stochastic behavior of fga, like all ga-based approaches, makes it difficult to analyze the effects that various manet characteristics have on its convergence speed. Metrically transitive homogeneous Markov chains have been used to analyze the convergence of our fga with respect to various communication ranges of mobile nodes and also the number of nodes in various scenarios. The Dobrushin contraction coefficient of ergodicity is used for measuring convergence speed for Markov chain model of our fga. Two different testbed platforms are presented to illustrate effectiveness of our bio-inspired algorithm in terms of area coverage.     

Proving operational termination of membership equational programs

Reasoning about the termination of equational programs in sophisticated equational languages such as Elan, Maude, OBJ, CafeOBJ, Haskell, and so on, requires support for advanced features such as evaluation strategies, rewriting modulo, use of extra variables in conditions, partiality, and expressive type systems (possibly including polymorphism and higher-order). However, many of those features are, at best, only partially supported by current term rewriting termination tools (for instance mu-term, C i ME, AProVE, TTT, Termptation, etc.) while they may be essential to ensure termination. We present a sequence of theory transformations that can be used to bridge the gap between expressive membership equational programs and such termination tools, and prove the correctness of such transformations. We also discuss a prototype tool performing the transformations on Maude equational programs and sending the resulting transformed theories to some of the aforementioned standard termination tools.     

Mining temporal specifications from object usage

A caller must satisfy the callee??s precondition??that is, reach a state in which the callee may be called. Preconditions describe the state that needs to be reached, but not how to reach it. We combine static analysis with model checking to mine Fair Computation Tree Logic (CTL ^F ) formulas that describe the operations a parameter goes through: ??In parseProperties(String xml), the parameter xml normally stems from getProperties().?? Such operational preconditions can be learned from program code, and the code can be checked for their violations. Applied to AspectJ, our Tikanga prototype found 169 violations of operational preconditions, uncovering 7 unique defects and 27 unique code smells??with 52% true positives in the 25% top-ranked violations.     

Procedural Representation of CIC Proof Terms

We propose an effective procedure, the first one to our knowledge, for translating a proof term of the Calculus of Inductive Constructions (CIC), into a tactical expression of the high-level specification language of a CIC-based proof assistant like coq (Coq development team 2008) or matita (Asperti et al., J Autom Reason 39:109–139, 2007). This procedure, which should not be considered definitive at its present stage, is intended for translating the logical representation of a proof coming from any source, i.e. from a digital library or from another proof development system, into an equivalent proof presented in the proof assistant’s editable high-level format. To testify to effectiveness of our procedure, we report on its implementation in matita and on the translation of a significant set of proofs (Guidi, ACM Trans Comput Log 2009) from their logical representation as coq 7.3.1 (Coq development team 2002) CIC proof terms to their high-level representation as tactical expressions of matita’s user interface language.     

The Meteor metric for automatic evaluation of machine translation

The Meteor Automatic Metric for Machine Translation evaluation, originally developed and released in 2004, was designed with the explicit goal of producing sentence-level scores which correlate well with human judgments of translation quality. Several key design decisions were incorporated into Meteor in support of this goal. In contrast with IBM’s Bleu, which uses only precision-based features, Meteor uses and emphasizes recall in addition to precision, a property that has been confirmed by several metrics as being critical for high correlation with human judgments. Meteor also addresses the problem of reference translation variability by utilizing flexible word matching, allowing for morphological variants and synonyms to be taken into account as legitimate correspondences. Furthermore, the feature ingredients within Meteor are parameterized, allowing for the tuning of the metric’s free parameters in search of values that result in optimal correlation with human judgments. Optimal parameters can be separately tuned for different types of human judgments and for different languages. We discuss the initial design of the Meteor metric, subsequent improvements, and performance in several independent evaluations in recent years.     

Solving constraint satisfaction problems with SAT modulo theories

Due to significant advances in SAT technology in the last years, its use for solving constraint satisfaction problems has been gaining wide acceptance. Solvers for satisfiability modulo theories (SMT) generalize SAT solving by adding the ability to handle arithmetic and other theories. Although there are results pointing out the adequacy of SMT solvers for solving CSPs, there are no available tools to extensively explore such adequacy. For this reason, in this paper we introduce a tool for translating FLATZINC (MINIZINC intermediate code) instances of CSPs to the standard SMT-LIB language. We provide extensive performance comparisons between state-of-the-art SMT solvers and most of the available FLATZINC solvers on standard FLATZINC problems. The obtained results suggest that state-of-the-art SMT solvers can be effectively used to solve CSPs.     

EuLisp in education

We present our experience withEuLisp as a teaching language, focussing on the level of the language which was specifically designed for this purpose (level-0).EuLisp has been used in undergraduate and postgraduate teaching since 1990, in lectures and laboratories, where in many cases it has replaced Scheme or Common Lisp. It has been used extensively in programming courses, parallelism courses, as a vehicle for advanced courses in symbolic computing and programming language design; it has also been used as a platform for final year undergraduate projects. This experience has demonstrated thatEuLisp is well suited to teaching and far reaching in its capabilities: it supports the relevant concepts in a consistent and versatile framework, so that the language serves to facilitate the educational process. The discussion is illustrated with examples, and where appropriate we draw a comparison with the Lisp dialects used previously in these courses.     

InterAspect: aspect-oriented instrumentation with GCC

We present the InterAspect instrumentation framework for GCC, a widely used compiler infrastructure. The addition of plug-in support in the latest release of GCC makes it an attractive platform for runtime instrumentation, as GCC plug-ins can directly add instrumentation by transforming the compiler??s intermediate representation. Such transformations, however, require expert knowledge of GCC internals. InterAspect addresses this situation by allowing instrumentation plug-ins to be developed using the familiar vocabulary of Aspect-Oriented Programming: pointcuts, join points, and advice functions. Moreover, InterAspect uses specific information about each join point in a pointcut, possibly including results of static analysis, to support powerful customized instrumentation. We describe the InterAspect API and present several examples that illustrate its practical utility as a runtime-verification platform. We also introduce a tracecut system that uses InterAspect to construct program monitors that are formally specified as regular expressions.     

A compositional modelling and analysis framework for stochastic hybrid systems

The theory of hybrid systems is well-established as a model for real-world systems consisting of continuous behaviour and discrete control. In practice, the behaviour of such systems is also subject to uncertainties, such as measurement errors, or is controlled by randomised algorithms. These aspects can be modelled and analysed using stochastic hybrid systems. In this paper, we present HModest, an extension to the Modest modelling language—which is originally designed for stochastic timed systems without complex continuous aspects—that adds differential equations and inclusions as an expressive way to describe the continuous system evolution. Modest is a high-level language inspired by classical process algebras, thus compositional modelling is an integral feature. We define the syntax and semantics of HModest and show that it is a conservative extension of Modest that retains the compositional modelling approach. To allow the analysis of HModest models, we report on the implementation of a connection to recently developed tools for the safety verification of stochastic hybrid systems, and illustrate the language and the tool support with a set of small, but instructive case studies.     

Para Miner: a generic pattern mining algorithm for multi-core architectures

In this paper, we present Para Miner which is a generic and parallel algorithm for closed pattern mining. Para Miner is built on the principles of pattern enumeration in strongly accessible set systems. Its efficiency is due to a novel dataset reduction technique (that we call EL-reduction), combined with novel technique for performing dataset reduction in a parallel execution on a multi-core architecture. We illustrate Para Miner’s genericity by using this algorithm to solve three different pattern mining problems: the frequent itemset mining problem, the mining frequent connected relational graphs problem and the mining gradual itemsets problem. In this paper, we prove the soundness and the completeness of Para Miner. Furthermore, our experiments show that despite being a generic algorithm, Para Miner can compete with specialized state of the art algorithms designed for the pattern mining problems mentioned above. Besides, for the particular problem of gradual itemset mining, Para Miner outperforms the state of the art algorithm by two orders of magnitude.     

Parameterized Domination in Circle Graphs

A circle graph is the intersection graph of a set of chords in a circle. Keil [Discrete Appl. Math., 42(1):51–63, 1993] proved that Dominating Set, Connected Dominating Set, and Total Dominating Set are NP-complete in circle graphs. To the best of our knowledge, nothing was known about the parameterized complexity of these problems in circle graphs. In this paper we prove the following results, which contribute in this direction:

• Dominating Set, Independent Dominating Set, Connected Dominating Set, Total Dominating Set, and Acyclic Dominating Set are W[1]-hard in circle graphs, parameterized by the size of the solution.
• Whereas both Connected Dominating Set and Acyclic Dominating Set are W[1]-hard in circle graphs, it turns out that Connected Acyclic Dominating Set is polynomial-time solvable in circle graphs.
• If T is a given tree, deciding whether a circle graph G has a dominating set inducing a graph isomorphic to T is NP-complete when T is in the input, and FPT when parameterized by t=|V(T)|. We prove that the FPT algorithm runs in subexponential time, namely $2^{\mathcal{O}(t \cdot\frac{\log\log t}{\log t})} \cdot n^{\mathcal{O}(1)}$ , where n=|V(G)|.

     

Verification and validation meet planning and scheduling

A planning and scheduling (P&S) system takes as input a domain model and a goal, and produces a plan of actions to be executed, which will achieve the goal. A P&S system typically also offers plan execution and monitoring engines. Due to the non-deterministic nature of planning problems, it is a challenge to construct correct and reliable P&S systems, including, for example, declarative domain models. Verification and validation (V&V) techniques have been applied to address these issues. Furthermore, V&V systems have been applied to actually perform planning, and conversely, P&S systems have been applied to perform V&V of more traditional software. This article overviews some of the literature on the fruitful interaction between V&V and P&S.     

Chams: Churn-aware overlay construction for media streaming

Overlay networks support a wide range of peer-to-peer media streaming applications on the Internet. The user experience of such applications is affected by the churn resilience of the system. When peers disconnect from the system, streamed data may be delayed or lost due to missing links in the overlay topology. In this paper, we explore a proactive strategy to create churn-aware overlay networks that reduce the potential of disruptions caused by churn events. We describe Chams, a middleware for constructing overlay networks that mitigates the impact of churn. Chams uses a ??hybrid?? approach??it implicitly defines an overlay topology using a gossip-style mechanism, while taking the reliability of peers into account. Unlike systems for overlay construction, Chams supports a variety of topologies used in media streaming systems, such as trees, multi-trees and forests. We evaluate Chams with different topologies and show that it reduces the impact of churn, while imposing only low computational and message overheads.