No abstract

No abstract

This paper describes an approach to assuring the reliability of autonomous systems for Astronaut-Rover (ASRO) teams using the formal verification of models in the Brahms multi-agent modelling language. Planetary surface rovers have proven essential to several manned and unmanned missions to the moon and Mars. The first rovers were tele-or manuallyoperated, but autonomous systems are increasingly being used to increase the effectiveness and range of rover operations on missions such as the NASA Mars Science Laboratory. It is anticipated that future manned missions to the moon and Mars will use autonomous rovers to assist astronauts during extravehicular activity (EVA), including science, technical and construction operations. These ASRO teams have the potential to significantly increase the safety and efficiency of surface operations. We describe a new Brahms model in which an autonomous rover may perform several different activities including assisting an astronaut during EVA. These activities compete for the autonomous rovers "attention' and therefore the rover must decide which activity is currently the most important and engage in that activity. The Brahms model also includes an astronaut agent, which models an astronauts predicted behaviour during an EVA. The rover must also respond to the astronauts activities. We show how this Brahms model can be simulated using the Brahms integrated development environment. The model can then also be formally verified with respect to system requirements using the SPIN model checker, through automatic translation from Brahms to PROMELA (the input language for SPIN). We show that such formal verification can be used to determine that mission-and safety critical operations are conducted correctly, and therefore increase the reliability of autonomous systems for planetary rovers in ASRO teams.

No abstract

Quantum-dot cellular automata (QCA) is a technological approach to implement digital circuits with exceptionally high integration density, high switching frequency, and low energy dissipation. QCA circuits are a potential solution to the energy dissipation issues created by shrinking microprocessors with ultra-high integration densities. Current QCA circuit designs are irreversible, yet reversible circuits are known to increase energy efficiency. Thus, the development of reversible QCA circuits will further reduce energy dissipation. This paper presents novel reversible and irreversible sequential QCA set/reset (SR), data (D), Jack Kilby (JK), and toggle (T) flip-flop designs based on the majority gate that utilizes the universal, standard, and efficient (USE) clocking scheme, which allows the implementation of feedback paths and easy routing for sequential QCA-based circuits. The simulation results confirm that the proposed reversible QCA USE sequential flip-flop circuits exhibit energy dissipation less than the Landauer energy limit. Irreversible QCA USE flip-flop designs, although having higher energy dissipation, sometimes have floorplan areas and delay times less than those of reversible designs; therefore, they are also explored. The trade-offs between the energy dissipation versus the area cost and delay time for the reversible and irreversible QCA circuits are examined comprehensively.