287 research outputs found
MAPmAKER: Performing multi-robot LTL planning under uncertainty
No full textRobot applications are being increasingly used in real life to help humans performing dangerous, heavy, and/or monotonous tasks. They usually rely on planners that given a robot or a team of robots compute plans that specify how the robot(s) can fulfill their missions. Current robot applications ask for planners that make automated planning possible even when only partial knowledge about the environment in which the robots are deployed is available. To tackle such challenges we developed MAPmAKER, which provides a decentralized planning solution and is able to work in partially known environments. Decentralization is realized by decomposing the robotic team into subteams based on their missions, and then by running a classical planning algorithm. Partial knowledge is handled by calling several times a classical planning algorithm. Demo video available at: https://youtu.be/TJzC_u2yfzQ
ATheNA-S: A Testing Tool for Simulink Models Driven by Software Requirements and Domain Expertise
No full textSearch-based software testing (SBST) is widely used to verify software systems. SBST iteratively generates new test inputs driven by fitness functions, i.e., objective functions that guide the test case generation. In previous work, we proposed ATheNA, a novel SBST framework that combines fitness functions automatically generated from requirements' specifications with those manually defined by engineers, and showed its effectiveness.This tool demonstration paper describes ATheNA-S, an instance of ATheNA that targets Simulink models. We demonstrate our tool using an automotive case study and present our implementation and design decisions.A video walkthrough of the case study is available on YouTube: youtu.be/dhw9rwO7L4k
Search-Based Software Testing Driven by Automatically Generated and Manually Defined Fitness Functions
No full textSearch-based software testing (SBST) typically relies on fitness functions to guide the search exploration toward software failures. There are two main techniques to define fitness functions: (a) automated fitness function computation from the specification of the system requirements, and (b) manual fitness function design. Both techniques have advantages. The former uses information from the system requirements to guide the search toward portions of the input domain more likely to contain failures. The latter uses the engineers’ domain knowledge.
We propose ATheNA, a novel SBST framework that combines fitness functions automatically generated from requirements specifications and those manually defined by engineers. We design and implement ATheNA-S, an instance of ATheNA that targets Simulink® models. We evaluate ATheNA-S by considering a large set of models from different domains. Our results show that ATheNA-S generates more failure-revealing test cases than existing baseline tools and that the difference between the runtime performance of ATheNA-S and the baseline tools is not statistically significant. We also assess whether ATheNA-S could generate failure-revealing test cases when applied to two representative case studies: one from the automotive domain and one from the medical domain. Our results show that ATheNA-S successfully revealed a requirement violation in our case studies
Immunohistochemical detection of phthalate esters in the alimentary canal of Tilapia spp
No full textAn examination of the occurrence and distribution of phthalate esters in the alimentary canal of a polyhybrid of Tilapia gave evidence of different and selective patterns of distribution in the organ tissues: the phthalate esters were shown to be concentrated in the stomach and anterior intestine. The restricted distribution of phthalate esters can have implications for the physiology of the digestive system. The phthalates, stored in the oxyntic cells of the gastric tubular glands, probably interfere with the digestive process. The strategic location of the enterocytes in the anterior intestine implies that they can hamper the reabsorption of digestion products. The endocrine disrupting effects known for these chemicals are probably related to the absorption of them via the alimentary canal
Effects of phthalates esters on actin cytoskeleton of Py1a rat osteoblasts
No full textWe evaluated, by confocal laser scanning microscopy, the actin cytoskeleton of immortalized rat Py1a osteoblasts treated with phthalate esters (butyl benzyl phthalate, BBP and dibutyl phthalate, DBP), endocrine disruptors with estrogenic activity. We observed some peculiar modifications of actin cytoskeleton and cells changing from a spindle shape to a rounded form. In particular, F-actin formed thick bundles around the cell membrane but only a weak labeling was observed in rounded cells. Also influence on apoptosis and short-term effects on FGF-2 were studied. It was found that BBP and DBP exert their action in a similar way, act in a transient manner and do not induce apoptosis
Phthalate esters influence FGF-2 translocation in Py1a rat osteoblasts
No full textExposure of the Py1a rat osteoblastic cells to butyl benzyl phthalate (BBP) and dibutyl phthalate (DBP) showed that these endocrine disrupting chemicals (EDC) strongly and reversibly affect the cytoplasmic fibroblast growth factor-2 (FGF-2) translocation into the nucleus in a dose-dependent and time-related manner. Stimulation of cells with high concentrations of BBP or DBP for short timing gave results comparable to those of cells treated with low concentrations for long timing. By confocal laser scanning microscope (CLSM) analysis it was found that the first relevant effect resulted in an accumulation of FGF-2 near the nuclear envelope, sometimes in the shape of clusters; the growth factor was then translocated into the nucleus and, finally, after long periods of exposure, the basal nuclear and cytoplasmic binding, typical of unstimulated cells, was re-established. In addition it was found that phthalate esters did not affect the FGF receptor 2 (FGFR-2) but decreased Con A binding indicating a possible inhibition of collagen fiber assembly. The different concentrations and timing of exposure of BBP and DBP affected the FGF-2 modulation in a similar way. Noticeable cumulative effects of BBP and DBP were not observed
In situ visualization of o-phthalate esters in gastrointestinal tract of the frog Rana esculenta
No full textThe regional distribution and relative occurrence of phthalates were studied immuno-histochemically by confocal laser scanning microscopy in the alimentary tract of the green frog, Rana esculenta, using an antibody against o-phthalate esters. Many positive sites indicating the basal presence of phthalate esters were identified. The immunoreactive cells were located in the gastric glands of the stomach and in the intestinal epithelium regions with variable frequencies. The regional distribution of phathalate-accumulating cells resembled that of fish and demonstrated that these endocrine disrupters not only enter via the alimentary canal, but also bioaccumulate inside cells specialized in secretion as well as absorption functions
Approximation-refinement testing of compute-intensive cyber-physical models: An approach based on system identification
No full textBlack-box testing has been extensively applied to test models of Cyber-Physical systems (CPS) since these models are not often amenable to static and symbolic testing and verification. Black-box testing, however, requires to execute the model under test for a large number of candidate test inputs. This poses a challenge for a large and practically-important category of CPS models, known as compute-intensive CPS (CI-CPS) models, where a single simulation may take hours to complete. We propose a novel approach, namely ARIsTEO, to enable effective and efficient testing of CI-CPS models. Our approach embeds black-box testing into an iterative approximation-refinement loop. At the start, some sampled inputs and outputs of the CI-CPS model under test are used to generate a surrogate model that is faster to execute and can be subjected to black-box testing. Any failure-revealing test identified for the surrogate model is checked on the original model. If spurious, the test results are used to refine the surrogate model to be tested again. Otherwise, the test reveals a valid failure.We evaluated ARIsTEO by comparing it with S-Taliro, an open-source and industry-strength tool for testing CPS models. Our results, obtained based on five publicly-available CPS models, show that, on average, ARIsTEO is able to find 24% more requirements violations than S-Taliro and is 31% faster than S-Taliro in finding those violations. We further assessed the effectiveness and efficiency of ARIsTEO on a large industrial case study from the satellite domain. In contrast to S-Taliro, ARIsTEO successfully tested two different versions of this model and could identify three requirements violations, requiring four hours, on average, for each violation
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