Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control最新文献_第2页

HyRG: a random generation tool for affine hybrid automata HyRG:仿射混合自动机的随机生成工具

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728650

L. V. Nguyen, Christian Schilling, Sergiy Bogomolov, Taylor T. Johnson

{"title":"HyRG: a random generation tool for affine hybrid automata","authors":"L. V. Nguyen, Christian Schilling, Sergiy Bogomolov, Taylor T. Johnson","doi":"10.1145/2728606.2728650","DOIUrl":"https://doi.org/10.1145/2728606.2728650","url":null,"abstract":"In this poster, we present methods for randomly generating hybrid automata with affine differential equations, invariants, guards, and assignments. Selecting an arbitrary affine function from the set of all affine functions results in a low likelihood of generating hybrid automata with diverse and interesting behaviors, as there are an uncountable number of elements in the set of all affine functions. Instead, we partition the set of all affine functions into potentially interesting classes and randomly select elements from these classes. For example, we partition the set of all affine differential equations by using restrictions on eigenvalues such as those that yield stable, unstable, etc. equilibrium points. We partition the components describing discrete behavior (guards, assignments, and invariants) to allow either time-dependent or state-dependent switching, and in particular provide the ability to generate subclasses of piecewise-affine hybrid automata. Our preliminary experimental results with a prototype tool called HyRG (Hybrid Random Generator) illustrate the feasibility of this generation method to automatically create standard hybrid automaton examples like the bouncing ball and thermostat.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134506519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Estimator-based reactive synthesis under incomplete information 不完全信息下基于估计器的反应性合成

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728626

Rüdiger Ehlers, U. Topcu

{"title":"Estimator-based reactive synthesis under incomplete information","authors":"Rüdiger Ehlers, U. Topcu","doi":"10.1145/2728606.2728626","DOIUrl":"https://doi.org/10.1145/2728606.2728626","url":null,"abstract":"Lack of complete run-time information about the environment behavior significantly increases the computational complexity and limits the applicability of practical reactive synthesis methods, e.g., synthesis from generalized reactivity( 1) specifications. We tackle this difficulty by splitting incomplete-information controller synthesis into estimator construction and complete-information synthesis steps. The estimator, which executes in parallel to the controller, establishes approximations of the unobserved variables that are salient for the synthesis step. It essentially provides an abstraction from the belief space of the controller, whose exponential growth often plagues incomplete-information synthesis, by keeping track of only the properties of relevance for the specification engineer and the scenario under consideration. We formalize an estimator notion for controller synthesis, and present a framework in which such estimators work in concert with controllers reacting partly to the estimator outputs to realize given temporal logic specifications. In order to limit the size and structure of the estimators, we focus on positional estimators in computation. Moreover, we demonstrate how such estimators are well-suited to be used in the context of generalized reactivity(1) synthesis. We illustrate the use of the estimator-based synthesis method on a running example motivated by intelligent transportation systems.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134393274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

SpaTeL: a novel spatial-temporal logic and its applications to networked systems 时空逻辑:一种新的时空逻辑及其在网络系统中的应用

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728633

I. Haghighi, Austin Jones, Z. Kong, E. Bartocci, R. Grosu, C. Belta

{"title":"SpaTeL: a novel spatial-temporal logic and its applications to networked systems","authors":"I. Haghighi, Austin Jones, Z. Kong, E. Bartocci, R. Grosu, C. Belta","doi":"10.1145/2728606.2728633","DOIUrl":"https://doi.org/10.1145/2728606.2728633","url":null,"abstract":"Networked dynamical systems are increasingly used as models for a variety of processes ranging from robotic teams to collections of genetically engineered living cells. As the complexity of these systems increases, so does the range of emergent properties that they exhibit. In this work, we define a new logic called Spatial-Temporal Logic (SpaTeL) that is a unification of signal temporal logic (STL) and tree spatial superposition logic (TSSL). SpaTeL is capable of describing high-level spatial patterns that change over time, e.g., \"Power consumption in the northwest quadrant of the city drops below 100 megawatts if the power consumption in the southwest quadrant remains above 200 megawatts for two hours.\" We present a statistical model checking procedure that evaluates the probability with which a networked system satisfies a SpaTeL formula. We also develop a synthesis procedure that determines system parameters maximizing the average degree of satisfaction, a continuous measure that quantifies how strongly a system execution satisfies a given formula. We demonstrate our algorithms on two systems: a biochemical reaction-diffusion system and a demand-side management system for a smart neighborhood.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129156559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 102

Eliminating spurious transitions in reachability with support functions 通过支持功能消除可达性中的虚假转换

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728622

Goran Frehse, Sergiy Bogomolov, Marius Greitschus, Thomas Strump, A. Podelski

{"title":"Eliminating spurious transitions in reachability with support functions","authors":"Goran Frehse, Sergiy Bogomolov, Marius Greitschus, Thomas Strump, A. Podelski","doi":"10.1145/2728606.2728622","DOIUrl":"https://doi.org/10.1145/2728606.2728622","url":null,"abstract":"Computing an approximation of the reachable states of a hybrid system is a challenge, mainly because overapproximating the solutions of ODEs with a finite number of sets does not scale well. Using template polyhedra can greatly reduce the computational complexity, since it replaces complex operations on sets with a small number of optimization problems. However, the use of templates may make the over-approximation too conservative. Spurious transitions, which are falsely considered reachable, are particularly detrimental to performance and accuracy, and may exacerbate the state explosion problem. In this paper, we examine how spurious transitions can be avoided with minimal computational effort. To this end, detecting spurious transitions is reduced to the well-known problem of showing that two convex sets are disjoint by finding a hyperplane that separates them. We generalize this to flowpipes by considering hyperplanes that evolve with time in correspondence to the dynamics of the system. The approach is implemented in the model checker SpaceEx and demonstrated on examples.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129576906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Probabilistic diagnosability of hybrid systems 混合系统的概率可诊断性

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728621

Yi Deng, A. Julius, A. D’innocenzo

引用次数: 1

Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control 基于在线优化控制的动力假肢AMPRO的运动演示

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728638

Huihua Zhao, Jake Reher, J. Horn, V. Paredes, A. Ames

{"title":"Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control","authors":"Huihua Zhao, Jake Reher, J. Horn, V. Paredes, A. Ames","doi":"10.1145/2728606.2728638","DOIUrl":"https://doi.org/10.1145/2728606.2728638","url":null,"abstract":"This demonstration presents an unimpaired subject walking with a custom built self-contained powered transfemoral prosthesis: AMPRO, which is controlled by a novel nonlinear real-time optimization based controller. To achieve the behaviors that will be demonstrated, controllers that have been successfully implemented on bipedal walking robots are translated to the prosthesis with the goal of achieving natural human-like walking while minimizing power consumption. To achieve this goal, we begin by collecting reference human locomotion data via Inertial measurement Units (IMUs). This data forms the basis for an optimization problem that generates virtual constraints for the prosthesis that provably yields walking in simulation. Utilizing methods that have proven successful in generating stable robotic locomotion, control Lyapunov function (CLF) based Quadratic Programs (QPs) are utilized to optimally track the resulting desired trajectories. The parameterization of the trajectories is determined through a combination of on-board sensing on the prosthesis together with IMU data, thereby coupling the actions of the user with the controller. Finally, impedance control is integrated into the QP yielding an optimization based control law that displays remarkable tracking and robustness, outperforming traditional PD and impedance control strategies.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128254415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

C2E2: a tool for verifying annotated hybrid systems C2E2:验证带注释的混合系统的工具

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728646

Parasara Sridhar Duggirala, Matthew Potok, S. Mitra, Mahesh Viswanathan

引用次数: 14

Counterexample-guided stabilization of switched systems using control lyapunov functions 利用控制李雅普诺夫函数的反例制导切换系统镇定

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728647

H. Ravanbakhsh, S. Sankaranarayanan

{"title":"Counterexample-guided stabilization of switched systems using control lyapunov functions","authors":"H. Ravanbakhsh, S. Sankaranarayanan","doi":"10.1145/2728606.2728647","DOIUrl":"https://doi.org/10.1145/2728606.2728647","url":null,"abstract":"In this project, we address the problem of synthesizing region-stabilizing controllers for switched systems. The plant model consists of a continuous-time switched system with finitely many switching modes. Our approach searches for a state-feedback that chooses between finitely many switching modes at each time instant: (a) guaranteeing a minimum dwell time between mode changes and (b) region stabilizing to a suitably small set around a given state. First, we introduce a special class of control Lyapunov functions (CLF) for switched systems that yield switching controllers with a guaranteed minimum dwell time in each mode. After formulating the problem of finding such CLF as quantified exists-forall constraints, we employ a counter-example based inductive synthesis (CEGIS) approach to find a CLF with a given fixed template. We introduce a heuristic to increase the rate of convergence of the technique along with a relaxation to guarantee its eventual termination. We evaluate our approach on a set of benchmarks ranging from two to five state variables and compare the results with some of the existing approaches.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127613239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

HYST

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728630

Stanley Bak, S. Bogomolov, Taylor T. Johnson

{"title":"HYST","authors":"Stanley Bak, S. Bogomolov, Taylor T. Johnson","doi":"10.1145/2728606.2728630","DOIUrl":"https://doi.org/10.1145/2728606.2728630","url":null,"abstract":"A number of powerful and scalable hybrid systems model checkers have recently emerged. Although all of them honor roughly the same hybrid systems semantics, they have drastically different model description languages. This situation (a) makes it difficult to quickly evaluate a specific hybrid automaton model using the different tools, (b) obstructs comparisons of reachability approaches, and (c) impedes the widespread application of research results that perform model modification and could benefit many of the tools. In this paper, we present Hyst, a Hybrid Source Transformer. Hyst is a source-to-source translation tool, currently taking input in the SpaceEx model format, and translating to the formats of HyCreate, Flow*, or dReach. Internally, the tool supports generic model-to-model transformation passes that serve to both ease the translation and potentially improve reachability results for the supported tools. Although these model transformation passes could be implemented within each tool, the Hyst approach provides a single place for model modification, generating modified input sources for the unmodified target tools. Our evaluation demonstrates Hyst is capable of automatically translating benchmarks in several classes (including affine and nonlinear hybrid automata) to the input formats of several tools. Additionally, we illustrate a general model transformation pass based on pseudo-invariants implemented in Hyst that illustrates the reachability improvement.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124409350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Computing bisimulation functions using SOS optimization and δ-decidability over the reals 利用SOS优化和对实数的δ-可判决性计算双模拟函数

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728609

A. Murthy, Md. Ariful Islam, S. Smolka, R. Grosu

{"title":"Computing bisimulation functions using SOS optimization and δ-decidability over the reals","authors":"A. Murthy, Md. Ariful Islam, S. Smolka, R. Grosu","doi":"10.1145/2728606.2728609","DOIUrl":"https://doi.org/10.1145/2728606.2728609","url":null,"abstract":"We present BFComp, an automated framework based on Sum-Of-Squares (SOS) optimization and δ-decidability over the reals, to compute Bisimulation Functions (BFs) that characterize Input-to-Output Stability (IOS) of dynamical systems. BFs are Lyapunov-like functions that decay along the trajectories of a given pair of systems, and can be used to establish the stability of the outputs with respect to bounded input deviations. In addition to establishing IOS, BFComp is designed to provide tight bounds on the squared output errors between systems whenever possible. For this purpose, two SOS optimization formulations are employed: SOSP 1, which enforces the decay requirements on a discretized grid over the input space, and SOSP 2, which covers the input space exhaustively. SOSP 2 is attempted first, and if the resulting error bounds are not satisfactory, SOSP 1 is used to compute a Candidate BF (CBF). The decay requirement for the BFs is then encoded as a δ-decidable formula and validated over a level set of the CBF using the dReal tool. If dReal produces a counterexample containing the states and inputs where the decay requirement is violated, this pair of vectors is used to refine the input-space grid and SOSP 1 is iterated. By computing BFs that appeal to a small-gain theorem, the BFComp framework can be used to show that a subsystem of a feedback-composed system can be replaced--with bounded error--by an approximately equivalent abstraction, thereby enabling approximate model-order reduction of dynamical systems. We illustrate the utility of BFComp on a canonical cardiac-cell model, showing that the four-variable Markovian model for the slowly activating Potassium current IKs can be safely replaced by a one-variable Hodgkin-Huxley-type approximation.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114324909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13