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This paper introduces software patterns (registration, acquire-release, and cache awareness) and data structures (Petri net, finite state machine, and protocol flag array) to support the coordinated execution of software activities (also called "components" or "agents"). Moreover, it presents and tests an implementation for Petri nets that supports real-time execution in shared memory for deployment inside one individual robot and separates event firing and handling, enabling distributed deployment between multiple robots. Experimental validation of the introduced patterns and data structures is performed within the context of activities for task execution, control and perception, and decision making for an application on coordinated navigation.

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Background: As an important mathematical model, the finite state machine (FSM) has been used in many fields, such as manufacturing system, health care, and so on. This paper analyzes the current development status of FSMs. It is pointed out that the traditional methods are often inconvenient for analysis and design, or encounter high computational complexity problems when studying FSMs. Method: The deep Q-network (DQN) technique, which is a model-free optimization method, is introduced to solve the stabilization problem of probabilistic finite state machines (PFSMs). In order to better understand the technique, some preliminaries, including Markov decision process, ϵ-greedy strategy, DQN, and so on, are recalled. Results: First, a necessary and sufficient stabilizability condition for PFSMs is derived. Next, the feedback stabilization problem of PFSMs is transformed into an optimization problem. Finally, by using the stabilizability condition and deep Q-network, an algorithm for solving the optimization problem (equivalently, computing a state feedback stabilizer) is provided. Discussion: Compared with the traditional Q learning, DQN avoids the limited capacity problem. So our method can deal with high-dimensional complex systems efficiently. The effectiveness of our method is further demonstrated through an illustrative example.

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This paper proposes risk-informed decision-making and control methods for autonomous vehicles (AVs) under severe driving conditions, where many vehicle interactions occur on slippery roads. We assume that the AV should approach a specific safe zone in case of vehicle malfunctioning. In normal situations, the driving behavior of the AV is based on the deterministic finite-state machine (FSM) that makes an appropriate real-time decision depending on the driving condition, which is efficient when compared with some conventional decision-making algorithms; alternatively, in emergency situations, the AV first has to be prevented the rear-end conflicts while the specific safe zone is simultaneously determined by evaluating the level of risk via two safety level indicators, i.e., Time-To-Collision (TTC) and Deceleration Rate to Avoid the Crash (DRAC). The safe path that guides the AV to avoid car crashes is generated based on the trajectory optimization theory (i.e., Pontryagin maximum principle), and the AV follows it based on the linear time-varying model predictive control (LTV-MPC), which ensures the AV's lateral stability. We verify the effectiveness of the proposed decision-making and control strategies in various test scenarios, and the results show that the AV behaves appropriately according to the behaviors of surrounding vehicles and road condition.

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In the mid-1930s, the English mathematician and logician Alan Turing invented an imaginary machine which could emulate the process of manipulating finite symbolic configurations by human computers. His machine launched the field of computer science and provided a foundation for the modern-day programmable computer. A decade later, building on Turing's machine, the American-Hungarian mathematician John von Neumann invented an imaginary self-reproducing machine capable of open-ended evolution. Through his machine, von Neumann answered one of the deepest questions in Biology: Why is it that all living organisms carry a self-description in the form of DNA? The story behind how two pioneers of computer science stumbled on the secret of life many years before the discovery of the DNA double helix is not well known, not even to biologists, and you will not find it in biology textbooks. Yet, the story is just as relevant today as it was eighty years ago: Turing and von Neumann left a blueprint for studying biological systems as if they were computing machines. This approach may hold the key to answering many remaining questions in Biology and could even lead to advances in computer science.

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This study presents a novel approach to cope with the human behaviour uncertainty during Human-Robot Collaboration (HRC) in dynamic and unstructured environments, such as agriculture, forestry, and construction. These challenging tasks, which often require excessive time, labour and are hazardous for humans, provide ample room for improvement through collaboration with robots. However, the integration of humans in-the-loop raises open challenges due to the uncertainty that comes with the ambiguous nature of human behaviour. Such uncertainty makes it difficult to represent high-level human behaviour based on low-level sensory input data. The proposed Fuzzy State-Long Short-Term Memory (FS-LSTM) approach addresses this challenge by fuzzifying ambiguous sensory data and developing a combined activity recognition and sequence modelling system using state machines and the LSTM deep learning method. The evaluation process compares the traditional LSTM approach with raw sensory data inputs, a Fuzzy-LSTM approach with fuzzified inputs, and the proposed FS-LSTM approach. The results show that the use of fuzzified inputs significantly improves accuracy compared to traditional LSTM, and, while the fuzzy state machine approach provides similar results than the fuzzy one, it offers the added benefits of ensuring feasible transitions between activities with improved computational efficiency.

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Living organisms can produce corresponding functions by responding to external and internal stimuli, and this irritability plays a pivotal role in nature. Inspired by such natural temporal responses, the development and design of nanodevices with the ability to process time-related information could facilitate the development of molecular information processing systems. Here, we proposed a DNA finite-state machine that can dynamically respond to sequential stimuli signals. To build this state machine, a programmable allosteric strategy of DNAzyme was developed. This strategy performs the programmable control of DNAzyme conformation using a reconfigurable DNA hairpin. Based on this strategy, we first implemented a finite-state machine with two states. Through the modular design of the strategy, we further realized the finite-state machine with five states. The DNA finite-state machine endows molecular information systems with the ability of reversible logic control and order detection, which can be extended to more complex DNA computing and nanomachines to promote the development of dynamic nanotechnology.

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In a mixed traffic environment, the connected vehicle platoon cannot communicate and collaborate with the surrounding vehicles. In this case, there is a high risk of collision in large vehicle platoon's lane change scenario where the non-connected surrounding vehicle occupies the target lane-changing space of the platoon. This study proposes a collision-avoidance lane change control method for a connected bus platoon to elude the non-connected vehicle in the target lane for completing lane change in the mixed traffic environment safely. A platoon vehicle sensor system with low-cost and low data processing complexity is designed, which equips with multiple sensors in longitudinal and lateral directions. Under control of the proposed platoon controller on the basis of vehicle-to-vehicle (V2V) communication, the platoon following vehicles are fully autonomous in both longitudinal and lateral directions. The safe lane change decision-maker is designed based on the Finite State Machine (FSM). The decision-maker fuses multiple sensor data and determines the lane change operation of the following vehicles. To verify the effectiveness of the proposed method, a three-vehicle platoon is carried out the lane change experiments in a high-fidelity mixed traffic scenario built by the PreScan-Simulink joint simulation platform. Exposure-to-Risk Index (ERI) of the platoon vehicles is adopted to evaluate the collision risk of the platoon during lane changing process. Three typical case scenarios are tested, including unimpeded lane change, passive waiting lane change, and active accelerating lane change. The simulation results show that all platoon vehicles have an excellent success rate in lane change without collision with the non-connected surrounding vehicle in these scenarios. The proposed method exhibits compelling benefits on improving the safety of platoon vehicles in the mixed traffic environment.

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In large-scale assessments, disengaged participants might rapidly guess on items or skip items, which can affect the score interpretation's validity. This study analyzes data from a linear computer-based assessment to evaluate a micro-intervention that blocked the possibility to respond for 2 s. The blocked response was implemented to prevent participants from accidental navigation and as a naive attempt to prevent rapid guesses and rapid omissions. The response process was analyzed by interpreting log event sequences within a finite-state machine approach. Responses were assigned to different response classes based on the event sequence. Additionally, post hoc methods for detecting rapid responses based on response time thresholds were applied to validate the classification. Rapid guesses and rapid omissions could be distinguished from accidental clicks by the log events following the micro-intervention. Results showed that the blocked response interfered with rapid responses but hardly led to behavioral changes. However, the blocked response could improve the post hoc detection of rapid responding by identifying responses that narrowly exceed time-bound thresholds. In an assessment context, it is desirable to prevent participants from accidentally skipping items, which in itself may lead to an increasing popularity of initially blocking responses. If, however, data from those assessments is analyzed for rapid responses, additional log data information should be considered.

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In the era of Industry 4.0 and agile manufacturing, the conventional methodologies for risk assessment, risk reduction, and safety procedures may not fulfill the End-User requirements, especially the SMEs with their product diversity and changeable production lines and processes. This work proposes a novel approach for planning and implementing safe and flexible Human-Robot-Interaction (HRI) workspaces using multilayer HRI operation modes. The collaborative operation modes are grouped in different clusters and categorized at various levels systematically. In addition to that, this work proposes a safety-related finite-state machine for describing the transitions between these modes dynamically and properly. The proposed approach is integrated into a new dynamic risk assessment tool as a promising solution toward a new safety horizon in line with industry 4.0.

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Smart sensors in smart grids provide real-time data and status of bidirectional flows of energy for monitoring, protection, and control of grid operations to improve reliability and resilience. Smart sensor data interoperability is a major challenge for smart grids. This paper proposes a methodology for modeling interoperability of smart sensors in terms of interactions using labeled transition systems and finite state processes in order to quantitatively and automatically measure and assess the interoperability, identify and resolve interoperability issues, and improve interoperability. A generic interoperability model of synchronous message passing from a sender to a receiver is built based on the proposed methodology. A case study is provided to apply this methodology for modeling interoperability between the Institute of Electrical and Electronics Engineers C37.118 phasor measurement unit-based smart sensors and phasor data concentrators. The interoperability model can be used for the quantitative and automated measurement and assessment of the interoperability of phasor measurement unit-based smart sensors and phasor data concentrators to address interoperability issues. This methodology can also be applied to modeling interoperability of smart sensors based on other standard communication protocols in order to achieve and assure sensor data interoperability in smart grids.

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We consider the problem of encoding a deterministic source sequence (i.e., individual sequence) for the degraded wiretap channel by means of an encoder and decoder that can both be implemented as finite-state machines. Our first main result is a necessary condition for both reliable and secure transmission in terms of the given source sequence, the bandwidth expansion factor, the secrecy capacity, the number of states of the encoder and the number of states of the decoder. Equivalently, this necessary condition can be presented as a converse bound (i.e., a lower bound) on the smallest achievable bandwidth expansion factor. The bound is asymptotically achievable by Lempel-Ziv compression followed by good channel coding for the wiretap channel. Given that the lower bound is saturated, we also derive a lower bound on the minimum necessary rate of purely random bits needed for local randomness at the encoder in order to meet the security constraint. This bound too is achieved by the same achievability scheme. Finally, we extend the main results to the case where the legitimate decoder has access to a side information sequence, which is another individual sequence that may be related to the source sequence, and a noisy version of the side information sequence leaks to the wiretapper.

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Gait training via a wearable device in children with cerebral palsy (CP) offers the potential to increase therapy dosage and intensity compared to current approaches. Here, we report the design and characterization of a pediatric knee exoskeleton (P.REX) with a microcontroller based multi-layered closed loop control system to provide individualized control capability. Exoskeleton performance was evaluated through benchtop and human subject testing. Step response tests show the averaged 90% rise was 26 ± 0.2 ms for 5 Nm, 22 ± 0.2 ms for 10 Nm, 32 ± 0.4 ms for 15 Nm. Torque bandwidth of P.REX was 12 Hz and output impedance was less than 1.8 Nm with control on (Zero mode). Three different control strategies can be deployed to apply assistance to knee extension: state-based assistance, impedance-based trajectory tracking, and real-time adaptive control. One participant with typical development (TD) and one participant with crouch gait from CP were recruited to evaluate P.REX in overground walking tests. Data from the participant with TD were used to validate control system performance. Kinematic and kinetic data were collected by motion capture and compared to exoskeleton on-board sensors to evaluate control system performance with results demonstrating that the control system functioned as intended. The data from the participant with CP are part of a larger ongoing study. Results for this participant compare walking with P.REX in two control modes: a state-based approach that provided constant knee extension assistance during early stance, mid-stance and late swing (Est+Mst+Lsw mode) and an Adaptive mode providing knee extension assistance proportional to estimated knee moment during stance. Both were well tolerated and significantly improved knee extension compared to walking without extension assistance (Zero mode). There was less reduction in gait speed during use of the adaptive controller, suggesting that it may be more intuitive than state-based constant assistance for this individual. Future work will investigate the effects of exoskeleton assistance during overground gait training in children with neurological disorders and will aim to identify the optimal individualized control strategy for exoskeleton prescription.

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BACKGROUND: In this work, we explore the possibility of decoding Imagined Speech (IS) brain waves using machine learning techniques. APPROACH: We design two finite state machines to create an interface for controlling a computer system using an IS-based brain-computer interface. To decode IS signals, we propose a covariance matrix of Electroencephalogram channels as input features, covariance matrices projection to tangent space for obtaining vectors from matrices, principal component analysis for dimension reduction of vectors, an artificial neural network (ANN) as a classification model, and bootstrap aggregation for creating an ensemble of ANN models. RESULT: Based on these findings, we are first to use an IS-based system to operate a computer and obtain an information transfer rate of 21-bits-per-minute. The proposed approach can decode the IS signal with a mean classification accuracy of 85% on classifying one long vs. short word. Our proposed approach can also differentiate between IS and rest state brain signals with a mean classification accuracy of 94%. COMPARISON: After comparison, we show that our approach performs equivalent to the state-of-the-art approach (SOTA) on decoding long vs. short word classification task. We also show that the proposed method outperforms SOTA significantly on decoding three short words and vowels with an average margin of 11% and 9%, respectively. CONCLUSION: These results show that the proposed approach can decode a wide variety of IS signals and is practically applicable in a real-time environment.

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Fatigue driving is one of the main factors which affect the safety of drivers and passengers in mountain freeway. To improve the driving safety, the application of fatigue driving detection system is a crucial measure. Accuracy, speed and robustness are key performances of fatigue detection system. However, most researches pay attention to one of them, instead of taking care of them all. It has limitation in practical application. This paper proposes a novel three-layered framework, named Real-time and Robust Detection System. Specifically, the framework includes three modules, called facial feature extraction, eyes regions extraction and fatigue detection. In the facial feature extraction module, the paper designs a deep cascaded convolutional neural network to detect the face and locate eye key points. Then, a face tracking sub-module is constructed to increase the speed of the algorithm, and a face validation submodule is applied to improve the stability of detection. Furthermore, to ensure the orderly operation of each sub-module, we designed a recognition loop based on the finite state machine. It can extract facial feature of the driver. In the second module, eyes regions of the driver were captured according to the geometric feature of face and eyes. In the fatigue detection module, the ellipse fitting method is applied to obtain the shape of driver's pupils. According to the relationship between the long and short axes of the ellipse, eyes state (opening or closed) can be decided. Lastly, the PERCLOS, which is defined by calculating the number of closed eyes in a period, is used to determine whether fatigue driving or not. The experimental results show that the comprehensive accuracy of fatigue detection is 95.87%. The average algorithm rate is 32.29 ms/f in an image of 640×480 pixels. The research results can serve the design of a new generation of driver fatigue detection system to mountain freeway.

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A hierarchical hybrid control system is proposed to cope with highly automated driving in highway environments with multiple lanes and surrounding vehicles. In the high-level layer, the discrete driving decisions are coordinated by the finite-state machine (FSM) based on the relative position identification and predictive longitudinal distance of the surrounding vehicles. The low-level layer is responsible for the vehicle motion control, where the model predictive control (MPC) approach is utilized to integrate the longitudinal and lateral control mainly including car-following control and lane changing control. The proposed control system focuses on two issues regarding safe driving on highways. On one hand, the subject vehicle must always keep a safe distance with its leading vehicle to avoid the rear-end collision. On the other hand, the subject vehicle should also overtake the preceding vehicle by safe lane changes if the desired speed is not achieved. The effectiveness of the hybrid control is tested in the simulation, whose results verify that the driving decisions are made reasonably and the vehicle motion control obeys stability and comfort requirements. Moreover, it is also indicated by the simulations in random scenarios that the control strategy is able to deal with most of ordinary situations on highways although some emergency situations or critical driving maneuvers of other vehicles are not considered.

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Mutation testing is a method widely used to evaluate the effectiveness of the test suite in hardware and software tests or to design new software tests. In mutation testing, the original model is systematically mutated using certain error assumptions. Mutation testing is based on well-defined mutation operators that imitate typical programming errors or which form highly successful test suites. The success of test suites is determined by the rate of killing mutants created through mutation operators. Because of the high number of mutants in mutation testing, the calculation cost increases in the testing of finite state machines (FSM). Under the assumption that each mutant is of equal value, random selection can be a practical method of mutant reduction. However, in this study, it was assumed that each mutant did not have an equal value. Starting from this point of view, a new mutant reduction method was proposed by using the centrality criteria in social network analysis. It was assumed that the central regions selected within this frame were the regions from where test cases pass the most. To evaluate the proposed method, besides the feature of detecting all failures related to the model, the widely-used W method was chosen. Random and proposed mutant reduction methods were compared with respect to their success by using test suites. As a result of the evaluations, it was discovered that mutants selected via the proposed reduction technique revealed a higher performance. Furthermore, it was observed that the proposed method reduced the cost of mutation testing.

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The Internet of Things (IoT) connects a wide range of objects and the types of environments in which IoT can be deployed dynamically change. Therefore, these environments can be modified dynamically at runtime considering the emergence of other requirements. Self-adaptive software alters its behavior to satisfy the requirements in a dynamic environment. In this context, the concept of self-adaptive software is suitable for some dynamic IoT environments (e.g., smart greenhouses, smart homes, and reality applications). In this study, we propose a self-adaptive framework for decision-making in an IoT environment at runtime. The framework comprises a finite-state machine model design and a game theoretic decision-making method for extracting efficient strategies. The framework was implemented as a prototype and experiments were conducted to evaluate its runtime performance. The results demonstrate that the proposed framework can be applied to IoT environments at runtime. In addition, a smart greenhouse-based use case is included to illustrate the usability of the proposed framework.

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The actin droplet machine is a computer model of a three-dimensional network of actin bundles developed in a droplet of a physiological solution, which implements mappings of sets of binary strings. The actin bundle network is conductive to travelling excitations, i.e. impulses. The machine is interfaced with an arbitrary selected set of k electrodes through which stimuli, binary strings of length k represented by impulses generated on the electrodes, are applied and responses are recorded. The responses are recorded in a form of impulses and then converted to binary strings. The machine's state is a binary string of length k: if there is an impulse recorded on the ith electrode, there is a '1' in the ith position of the string, and '0' otherwise. We present a design of the machine and analyse its state transition graphs. We envisage that actin droplet machines could form an elementary processor of future massive parallel computers made from biopolymers.

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There is good evidence supporting highly intensive, repetitive, activity-focused, voluntary-initiated practice as a key to driving recovery of upper limb function following stroke. Functional electrical stimulation (FES) offers a potential mechanism to efficiently deliver this type of therapy, but current commercial devices are too inflexible and/or insufficiently automated, in some cases requiring engineering support. In this paper, we report a new, flexible upper limb FES system, FES-UPP, which addresses the issues above. The FES-UPP system consists of a 5-channel stimulator running a flexible FES finite state machine (FSM) controller, the associated setup software that guides therapists through the setup of FSM controllers via five setup stages, and finally the Session Manager used to guide the patient in repeated attempts at the activities(s) and provide feedback on their performance. The FSM controller represents a functional activity as a sequence of movement phases. The output for each phase implements the stimulations to one or more muscles. Progression between movement phases is governed by user-defined rules. As part of a clinical investigation of the system, nine therapists used the FES-UPP system to set up FES-supported activities with twenty two patient participants with impaired upper-limbs. Therapists with little or no FES experience and without any programming skills could use the system in their usual clinical settings, without engineering support. Different functional activities, tailored to suit the upper limb impairment levels of each participant were used, in up to 8 sessions of FES-supported therapy per participant. The efficiency of delivery of the therapy using FES-UPP was promising when compared with published data on traditional face-face therapy. The FES-UPP system described in this paper has been shown to allow therapists with little or no FES experience and without any programming skills to set up state-machine FES controllers bespoke to the patient's impairment patterns and activity requirements, without engineering support. The clinical results demonstrated that the system can be used to efficiently deliver high intensity, activity-focused therapy. Nevertheless, further work to reduce setup time is still required.

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BACKGROUND: Gait training for individuals with neurological disorders is challenging in providing the suitable assistance and more adaptive behaviour towards user needs. The user specific adaptation can be defined based on the user interaction with the orthosis and by monitoring the user intentions. In this paper, an adaptive control model, commanded by the user intention, is evaluated using a lower limb exoskeleton with incomplete spinal cord injury individuals (SCI). METHODS: A user intention based adaptive control model has been developed and evaluated with 4 incomplete SCI individuals across 3 sessions of training per individual. The adaptive control model modifies the joint impedance properties of the exoskeleton as a function of the human-orthosis interaction torques and the joint trajectory evolution along the gait sequence, in real time. The volitional input of the user is identified by monitoring the neural signals, pertaining to the user's motor activity. These volitional inputs are used as a trigger to initiate the gait movement, allowing the user to control the initialization of the exoskeleton movement, independently. A Finite-state machine based control model is used in this set-up which helps in combining the volitional orders with the gait adaptation. RESULTS: The exoskeleton demonstrated an adaptive assistance depending on the patients' performance without guiding them to follow an imposed trajectory. The exoskeleton initiated the trajectory based on the user intention command received from the brain machine interface, demonstrating it as a reliable trigger. The exoskeleton maintained the equilibrium by providing suitable assistance throughout the experiments. A progressive change in the maximum flexion of the knee joint was observed at the end of each session which shows improvement in the patient performance. Results of the adaptive impedance were evaluated by comparing with the application of a constant impedance value. Participants reported that the movement of the exoskeleton was flexible and the walking patterns were similar to their own distinct patterns. CONCLUSIONS: This study demonstrates that user specific adaptive control can be applied on a wearable robot based on the human-orthosis interaction torques and modifying the joints' impedance properties. The patients perceived no external or impulsive force and felt comfortable with the assistance provided by the exoskeleton. The main goal of such a user dependent control is to assist the patients' needs and adapt to their characteristics, thus maximizing their engagement in the therapy and avoiding slacking. In addition, the initiation directly controlled by the brain allows synchronizing the user's intention with the afferent stimulus provided by the movement of the exoskeleton, which maximizes the potentiality of the system in neuro-rehabilitative therapies.

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