A grammatical approach to self-organizing robotic systems

In this paper, we define a class of graph grammars that can be used to model and direct concurrent robotic self-assembly and similar self-organizing processes. We give several detailed examples of the formalism and then focus on the problem of synthesizing a grammar so that it generates a given, prespecified assembly. In particular, to generate an acyclic graph we synthesize a binary grammar (rules involve at most two parts), and for a general graph we synthesize a ternary grammar (rules involve at most three parts). In both cases, we characterize the number of concurrent steps required to achieve the assembly. We also show a general result that implies that no binary grammar can generate a unique stable assembly. We conclude the paper with a discussion of how graph grammars can be used to direct the self-assembly of robotic parts.     

Scaling model checking of dataraces using dynamic information

Dataraces in multithreaded programs often indicate severe bugs and can cause unexpected behaviors when different thread interleavings are executed. Because dataraces are a cause for concern, many works have dealt with the problem of detecting them. Works based on dynamic techniques either report errors only for dataraces that occur in the current interleaving, which limits their usefulness, or produce many spurious dataraces. Works based on model checking search exhaustively for dataraces and thus can reveal even those that occur in rarely executed paths. However, the applicability of model checking is limited because the large number of thread interleavings in realistic multithreaded programs causes state space explosion. In this work, we combine the two techniques in a hybrid scheme which overcomes these difficulties and enjoys the advantages of both worlds. Our hybrid technique succeeds in providing thread interleavings that prove the existence of dataraces in realistic programs. The programs we experimented with cannot be checked using either an ordinary industrial strength model checker or bounded model checking.     

Lubricating Medical Devices with Fullerene-Like Nanoparticles

In the present work, MoS₂ nanoparticles with fullerene-like structure, and most particularly those doped with minute amounts of rhenium atoms, are used as additive to medical gels in order to facilitate their entry into constricted openings of soft material rings. This procedure is used to mimic the entry of endoscopes to constricted openings of the human body, like urethra, etc. It is shown that the Re-doped nanoparticles reduce the traction force used to retrieve the metallic lead of the endoscope from the soft ring by a factor close to three times with respect to the original gel. The mechanism of the mitigation of both friction and adhesion forces in these systems by the nanoparticles is discussed.