Using ambients to control resources

Current software and hardware systems, being parallel and reconfigurable, raise new safety and reliability problems, and the resolution of these problems requires new methods. Numerous proposals aim at reducing the threat of bugs and preventing several kinds of attacks. In this paper, we develop an extension of the calculus of mobile ambients, named controlled ambients, that is suited for expressing such issues, specifically denial of service attacks. We present a type system for controlled ambients, which makes static resource control possible in our setting, and enhance it with a rich notion of resources .     

Motion Control of Mobile Robots—From Static Targets to Fast Drives in Moving Crowds

Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting trajectory as well as the control parameters are asymptotically converging and glitches in the localization are handled robustly. The differences to a known method based on Lyapunov functions are discussed theoretically as well as in terms of actual motion measurements. Physical experiments with landbound vehicles show the reliability and limitations of these different methods in setups employing static attractors, systematically moving targets and fast, unpredictable moving targets in highly dynamical environments. Mainly due to the physical meaning of the control parameters the adaptation to actual kinematics and dynamics is significantly simplified.     

Conformance testing in systems with semicontrollable interfaces

In a conformance testing environment, an implementation under test (iut) communicates with multiple entities. A tester may have differing degrees of control on the interactions between these entities and the iut : directly controllable, semicontrollable, or uncontrollable. Semi-controllable inputs most likely render portions of an IUT untestable. In addition, multiple communicating entities may create race conditions during testing. This paper presents a test generation methodology for systems where the semicontrollable inputs can be generated indirectly. The test sequences obtained from the converted graph fully utilize the semicontrollable inputs (where possible) while avoiding the race conditions. Although, for the most general case, the graph conversion results in a exponentially large number of nodes, practical considerations make the converted graph size feasible. This approach is used to generate tests for mil-std 188-220B. By applying the proposed graph conversion and the race condition elimination techniques, the number of testable state transitions increased from approximately 200 to over 700, which represents a coverage of 95% of the transitions defined in the specification.     

A New Analyzer Based on Pellistor Sensor with Neural Network Data Postprocessing for Measurement of Hydrocarbons in Lower Explosive Limit Range

We present the results of a first stage of development work on a new type of analyzer for hydrogen and C₁–C₃ hydrocarbons concentration measurements in the lower explosive limit range, based on single pellistor sensor with artificial neural network data postprocessing.     

Test of time reversal invariance with TRINE

The new detector TRINE (time reversal invariance neutron experiment) was developed to test the time reversal invariance in the neutron decay. The precision of former experiments can be improved by one order of magnitude with an improved proton detection, a better background suppression and an angular resolving measurement using multiwire proportional chambers in coincidence with plastic scintillators, and the higher neutron flux and polarization available today. The concept of the detector and the status of the project is discussed.     

Crawler robot kinematics modeling by using a two-wheeled approach

The aim of this paper is to analyze the kinematics of a small crawler robot. A mathematical model of kinematics based on a two-wheeled approach is proposed. This model is experimentally verified using vision-based motion measurements of a crawler vehicle equipped with encoders and a remote control system. It is assumed that the vehicle moves along a few curves with different angular speeds of its wheels. Based on the model of motion and the values of these speeds, numerical simulations are investigated. The results obtained from numerical and experimental validation are presented and discussed. The comparison delivered some important conclusions.

     

A quadratic boundedness approach to a neural network-based simultaneous estimation of actuator and sensor faults

Neural Computing and Applications - The paper is devoted to the problem of a neural network-based robust simultaneous actuator and sensor faults estimator design for the purpose of the fault...