In this paper, we demonstrate that a formal approach is effective for improving reliability of cooperative robot designs, where the control logics are expressed in concurrent FSMs (Finite State Machines), especially in accordance with the standard FSM4RTC (FSM for Robotic Technology Components), by a case study of cooperative transport robots. In the case study, FSMs are modeled in the formal specification language CSP (Communicating Sequential Processes) and checked by the model-checking tool FDR, where we show techniques for modeling and verification of cooperative robots implemented with the help of the RTM (Robotic Technology Middleware).

Denser infrastructures can reduce terminal-to-infrastructure distance and thus improve the link budget in mobile communication systems. One such infrastructure, relaying can reduce the distance between the donor evolved node B (eNB) and user equipment (UE). However, conventional relaying suffers from geographical constraints, i.e., installation site, and difficulty in simultaneous transmission and reception on the same carrier frequency. Therefore, we propose a new type of fiber-optic relaying in which the antenna facing the eNB is geographically separated from the antenna facing the UE, and the two antennas are connected by an optical fiber. This structure aims to extend coverage to heavily shadowed areas. Our primary objective is to establish a design method for the proposed fiber-optic relaying in the presence of self-interference, which is the interference between the backhaul and access links, when the backhaul and access links simultaneously operate on the same carrier frequency. In this paper, we present the performance of the fiber-optic relaying in the presence of intra- and inter-cell interferences as well as self-interference. The theoretical desired-to-undesired-signal ratio for both uplink and downlink is investigated as parameters of the optical fiber length. We demonstrate the possibility of fiber-optic relaying with simultaneous transmission and reception on the same carrier frequency for the backhaul and access links. We validate the design method for the proposed fiber-optic relay system using these results.

This paper outlines the modeling requirements of integrated circuit (IC) fabrication processes that have lead to and sustained the development of computer-aided design of technology (i. e. TCAD). Over a period spanning more than two decades the importance of TCAD modeling and the complexity of required models has grown steadily. The paper also illustrates typical applications where TCAD has been powerful and strategic to IC scaling of processes. Finally, the future issues of atomic-scale modeling and the need for an hierarchical approach to capture and use such detailed information at higher levels of simulation are discussed.