{"id":"https://openalex.org/W4321194923","doi":"https://doi.org/10.1109/tcad.2023.3246386","title":"Ulgen: A Runtime Assurance Framework for Programming Safe Cyber\u2013Physical Systems","display_name":"Ulgen: A Runtime Assurance Framework for Programming Safe Cyber\u2013Physical Systems","publication_year":2023,"publication_date":"2023-02-17","ids":{"openalex":"https://openalex.org/W4321194923","doi":"https://doi.org/10.1109/tcad.2023.3246386"},"language":"en","primary_location":{"id":"doi:10.1109/tcad.2023.3246386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcad.2023.3246386","pdf_url":"https://ieeexplore.ieee.org/ielx7/43/6917053/10048006.pdf","source":{"id":"https://openalex.org/S100835903","display_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","issn_l":"0278-0070","issn":["0278-0070","1937-4151"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/43/6917053/10048006.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071670707","display_name":"Beyazit Yalcinkaya","orcid":"https://orcid.org/0000-0001-9987-635X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Beyazit Yalcinkaya","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9987-635X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047901628","display_name":"Hazem Torfah","orcid":"https://orcid.org/0000-0002-9628-1200"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hazem Torfah","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9628-1200","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042181450","display_name":"Ankush Desai","orcid":"https://orcid.org/0000-0001-9006-0100"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankush Desai","raw_affiliation_strings":["Amazon Web Services, Amazon Inc, Cupertino, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Web Services, Amazon Inc, Cupertino, CA, USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064230639","display_name":"Sanjit A. Seshia","orcid":"https://orcid.org/0000-0001-6190-8707"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjit A. Seshia","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6190-8707","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":{"value":2345,"currency":"USD","value_usd":2345},"fwci":0.9737,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77163793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"42","issue":"11","first_page":"3679","last_page":"3692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8217112421989441},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5741000771522522},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5151571035385132},{"id":"https://openalex.org/keywords/operational-semantics","display_name":"Operational semantics","score":0.4872068762779236},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.447406530380249},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4392993450164795},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3688547611236572},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3501526713371277}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8217112421989441},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5741000771522522},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5151571035385132},{"id":"https://openalex.org/C156325763","wikidata":"https://www.wikidata.org/wiki/Q1930895","display_name":"Operational semantics","level":3,"score":0.4872068762779236},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.447406530380249},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4392993450164795},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3688547611236572},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3501526713371277},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcad.2023.3246386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcad.2023.3246386","pdf_url":"https://ieeexplore.ieee.org/ielx7/43/6917053/10048006.pdf","source":{"id":"https://openalex.org/S100835903","display_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","issn_l":"0278-0070","issn":["0278-0070","1937-4151"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","raw_type":"journal-article"},{"id":"pmh:oai:research.chalmers.se:537175","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/537175","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"doi:10.1109/tcad.2023.3246386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcad.2023.3246386","pdf_url":"https://ieeexplore.ieee.org/ielx7/43/6917053/10048006.pdf","source":{"id":"https://openalex.org/S100835903","display_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","issn_l":"0278-0070","issn":["0278-0070","1937-4151"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4019201032","display_name":null,"funder_award_id":"FA8750-18-C-0101 (AA)","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4183124897","display_name":"CPS: Frontier: Collaborative Research: VeHICaL: Verified Human Interfaces, Control, and Learning for Semi-Autonomous Systems","funder_award_id":"1545126","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4532442909","display_name":null,"funder_award_id":"FA8750-18-C-0101","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4713059963","display_name":null,"funder_award_id":"FA8750","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G973968141","display_name":"FMitF: Collaborative Research: Formal Methods for Machine Learning System Design","funder_award_id":"1837132","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320319788","display_name":"C3.ai Digital Transformation Institute","ror":null},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321194923.pdf","grobid_xml":"https://content.openalex.org/works/W4321194923.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W93306303","https://openalex.org/W160670953","https://openalex.org/W828139470","https://openalex.org/W856973001","https://openalex.org/W1549644356","https://openalex.org/W2026629052","https://openalex.org/W2047276559","https://openalex.org/W2053572490","https://openalex.org/W2065227239","https://openalex.org/W2095274657","https://openalex.org/W2101508170","https://openalex.org/W2110762409","https://openalex.org/W2113818300","https://openalex.org/W2116364955","https://openalex.org/W2127240436","https://openalex.org/W2146244969","https://openalex.org/W2151958719","https://openalex.org/W2156093990","https://openalex.org/W2176215692","https://openalex.org/W2604347212","https://openalex.org/W2604410735","https://openalex.org/W2607438445","https://openalex.org/W2609891528","https://openalex.org/W2624605551","https://openalex.org/W2752666516","https://openalex.org/W2787908307","https://openalex.org/W2789655946","https://openalex.org/W2798378744","https://openalex.org/W2894638380","https://openalex.org/W2901136733","https://openalex.org/W2965660219","https://openalex.org/W2969749685","https://openalex.org/W3046712683","https://openalex.org/W3081016801","https://openalex.org/W3096170609","https://openalex.org/W3104935568","https://openalex.org/W3109937781","https://openalex.org/W4253563042","https://openalex.org/W4256348170","https://openalex.org/W4289045132","https://openalex.org/W4298126575","https://openalex.org/W6606470495","https://openalex.org/W6681477696","https://openalex.org/W6719506968","https://openalex.org/W6756486208","https://openalex.org/W6758141223","https://openalex.org/W6997500564"],"related_works":["https://openalex.org/W1573099115","https://openalex.org/W2160196023","https://openalex.org/W1487966966","https://openalex.org/W1482532369","https://openalex.org/W2245685274","https://openalex.org/W2188386601","https://openalex.org/W3042312155","https://openalex.org/W2788308474","https://openalex.org/W2100934637","https://openalex.org/W3021003119"],"abstract_inverted_index":{"We":[0,214],"present":[1],"ULGEN,":[2,15,183],"a":[3,16,21,43,56,78,147,177,184,193,248,253],"runtime":[4],"assurance":[5],"(RTA)":[6],"framework":[7,163],"for":[8,63,114,138,150],"programming":[9],"safe":[10,46,94,170,232],"cyber-physical":[11],"systems":[12,99],"(CPS).":[13],"In":[14,182],"system":[17],"is":[18,40,96,146],"implemented":[19],"as":[20,155],"collection":[22],"of":[23,32,42,45,58,73,90,117,172,180,219,242],"asynchronous":[24,143],"processes":[25],"executing":[26],"RTA":[27,38,118,132,173,186,224],"modules":[28,119,174],"which":[29,145],"are":[30],"generalizations":[31],"the":[33,70,74,82,86,115,169,197,203,207,212,216],"well-known":[34],"Simplex":[35],"architecture.":[36],"An":[37],"module":[39,80,187],"composed":[41],"set":[44,57],"controllers":[47,60],"(SCs),":[48],"designed":[49],"to":[50,67],"guarantee":[51],"certain":[52],"safety":[53,199,217],"specifications,":[54],"and":[55,77,127,158,190,226,233,251],"advanced":[59],"(ACs),":[61],"optimized":[62],"performance,":[64],"each":[65],"defined":[66],"run":[68],"under":[69],"specific":[71],"conditions":[72],"operating":[75],"environment,":[76],"decision":[79],"implementing":[81,139,231],"switching":[83],"logic":[84],"between":[85,142],"controllers.":[87],"A":[88],"source":[89],"complexity":[91],"in":[92,192,230,247],"achieving":[93],"CPS":[95,235],"that":[97,195],"these":[98],"often":[100],"involve":[101],"concurrently":[102],"interacting":[103],"components":[104,130],"with":[105,120],"different":[106],"execution":[107,125,171],"semantics.":[108],"To":[109],"this":[110],"end,":[111],"ULGEN":[112,220],"allows":[113],"definition":[116,179],"either":[121],"event-driven":[122],"or":[123],"time-driven":[124],"semantics":[126],"encapsulates":[128],"such":[129,154],"into":[131],"modules.":[133],"It":[134],"further":[135],"provides":[136,165],"primitives":[137],"priority-based":[140],"communication":[141],"processes,":[144],"necessary":[148],"feature":[149],"task":[151],"prioritization":[152],"mechanisms":[153],"contingency":[156],"plans":[157],"interrupt":[159],"service":[160],"routines.":[161],"The":[162],"also":[164],"formal":[166,178],"guarantees":[167,196,218],"on":[168,176,252],"based":[175],"well-formedness.":[181],"well-formed":[185],"combines":[188],"SCs":[189,204],"ACs":[191],"way":[194],"underlying":[198],"specifications":[200],"assured":[201],"by":[202,211,236],"while":[205],"delivering":[206],"desired":[208],"performance":[209],"offered":[210],"ACs.":[213],"compare":[215],"against":[221],"other":[222],"state-of-the-art":[223],"frameworks":[225],"demonstrate":[227],"its":[228],"efficacy":[229],"performant":[234],"presenting":[237],"an":[238],"extensive":[239],"experimental":[240],"evaluation":[241],"five":[243],"case":[244],"studies":[245],"both":[246],"simulation":[249],"environment":[250],"real":[254],"robotic":[255],"platform.":[256]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2026-09-02T18:50:13.731487","created_date":"2025-10-10T00:00:00"}