interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planni...interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT components.With the Structural-BT framework,software engineers can develop robotic software by flexibly composing BT structures to formulate the skeleton software architecture and implement task-specific algorithms when necessary.In the experiment,this paper develops robotic software for diverse task scenarios and selects the baseline approaches of Robot Operating System(ROS)and classical BT development frameworks for comparison.By quantitatively measuring the reuse frequencies and ratios of BT structures,the Structural-BT framework has been shown to be more efficient than the baseline approaches for robotic software development.展开更多
The authors consider the limiting behavior of various branches in a uniform recursive tree with size growing to infinity. The limiting distribution of ξn,m, the number of branches with size m in a uniform recursive t...The authors consider the limiting behavior of various branches in a uniform recursive tree with size growing to infinity. The limiting distribution of ξn,m, the number of branches with size m in a uniform recursive tree of order n, converges weakly to a Poisson distribution with parameter 1/m with convergence of all moments. The size of any large branch tends to infinity almost surely.展开更多
While remote trust attestation is a useful concept to detect unauthorized changes to software, the current mechanism only ensures authenticity at the start of the operating system and cannot ensure the action of runni...While remote trust attestation is a useful concept to detect unauthorized changes to software, the current mechanism only ensures authenticity at the start of the operating system and cannot ensure the action of running software. Our approach is to use a behavior-based monitoring agent to make remote attestation more flexible, dynamic, and trustworthy. This approach was mostly made possible by extensive use of process information which is readily available in Unix. We also made use of a behavior tree to effectively record predictable behaviors of each process. In this paper, we primarily focus on building a prototype implementation of such framework, presenting one example built on it, successfully find potential security risks in the run time of a ftp program and then evaluate the performance of this model.展开更多
文摘interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT components.With the Structural-BT framework,software engineers can develop robotic software by flexibly composing BT structures to formulate the skeleton software architecture and implement task-specific algorithms when necessary.In the experiment,this paper develops robotic software for diverse task scenarios and selects the baseline approaches of Robot Operating System(ROS)and classical BT development frameworks for comparison.By quantitatively measuring the reuse frequencies and ratios of BT structures,the Structural-BT framework has been shown to be more efficient than the baseline approaches for robotic software development.
基金This work was supported by the National Natural Science Foundation of China(10671188)and Special Foundation of USTC.
文摘The authors consider the limiting behavior of various branches in a uniform recursive tree with size growing to infinity. The limiting distribution of ξn,m, the number of branches with size m in a uniform recursive tree of order n, converges weakly to a Poisson distribution with parameter 1/m with convergence of all moments. The size of any large branch tends to infinity almost surely.
基金Supported by the National Natural Science Foun-dation of China (90104005 ,60373087 ,60473023)
文摘While remote trust attestation is a useful concept to detect unauthorized changes to software, the current mechanism only ensures authenticity at the start of the operating system and cannot ensure the action of running software. Our approach is to use a behavior-based monitoring agent to make remote attestation more flexible, dynamic, and trustworthy. This approach was mostly made possible by extensive use of process information which is readily available in Unix. We also made use of a behavior tree to effectively record predictable behaviors of each process. In this paper, we primarily focus on building a prototype implementation of such framework, presenting one example built on it, successfully find potential security risks in the run time of a ftp program and then evaluate the performance of this model.
