A

A
AT

AT
!
 R
C0 C C0
✓(R0 ) ✓ C C0
R0 C0 R
 ...

S✓T (S) ✓ (T )

N N (S) = {0} [ {succ(x) | x 2 S}

S (S) ✓ S S S ✓ (S)

S S
S S
S S

µ ⌫

µ ⌫

N N =µ N

N
02N x2N x+12N
 N

N0 = ⌫ N = N [ {!} ! = succ(!) ! = succ(succ(succ(...)))

succ

S µ ✓S
S S✓⌫

Q(x)
S = {x | Q(x)}
x µ Q(x)

S
x
Q(x) ⌫

N Q(x) S = {x | Q(x)}
x N Q(x)

N (S) ✓S 02S x2S

succ(x) 2 S

⇡
...
 n
n

⌫ µ
t 2 (S)
 t

t = f (t1 , . . . , tn ) t1 , . . . , tn 2 S f n

X Y
n
n 0 1
hot
cold

succ(0)
succ 0
succ(X)

succ zero 0 = zero

1 = succ(zero) 2 = succ(succ(zero))
 node
nil
[X1 , X2 , . . . , Xn ] node(X1 , node(X2 , . . . node(Xn , nil)))
[0, 1]
node(zero, node(succ(zero), nil))

p(t1 , . . . , tn ) p
n t1 , . . . , tn

p(t1 , . . . , tn )
(t1 , . . . , tn ) p p
t1 , . . . , tn

C D1 , . . . , Dn
C, D1 , . . . , Dn C D1 , . . . , Dn

C D1 , . . . , Dn D1 , . . . ,
Dn C
 C D1 , . . . , Dn
n=0

Y number Y = zero Y = succ(X)

X number
 C D1 , . . . , Dn
C D1 , . . . , D n

P A (P ) P
F n (P ) n P
P U (P ) = µ P

P (S) = A(P ) [ {f (t1 , . . . , tn ) | f 2 Fn (P ) ^ t1 , . . . , tn 2 S}

t
t

t
X1 , . . . , Xn f (t1 , . . . , tn ) = t[X1 := t1 , . . . , Xn := tn ]
t1 , . . . , tn t[X1 := t1 , . . . , Xn := tn ] t
X1 , . . . , Xn t1 , . . . , tn

P B(P )
P
U (P ) G(P ) C D1 , . . . , D n
P C, D1 , . . . , Dn 2 B(P )

P
P

TP (S) = {C | C D1 , . . . , Dn 2 G(P ) ^ D1 , . . . , Dn 2 S}
 P M in (P )
TP M in (P )
P

A P
A U (P ) M in (P )

P1

[H|T ] [t1 , . . . , tn ]
U (P1 ) ◆
N [L N = {0, s(0), s(s(0)), . . .} L
N L M in (P1 ) =
; f rom(0, [0, s(0), s(s(0)), . . .]) 2
/
M in (P1 )
 0 1

bit(0) bit(1)
bit(0) bit(1) bit(X) X
 P ⇥ An
A C=A B1 , . . . , Bm P P
{A1 , . . . , An }
⇥({A1 , . . . , An 1 , B1 , . . . , Bm }) (C, ⇥) ⇥(S)
S ⇥ S
 Q
P A2Q P

P A1 , . . . , A n
P {A1 , . . . , An }
;

P
(C1 , ⇥1 ), . . . , (Cn , ⇥n ) P

Q P Q
(C1 , ⇥1 ), . . . , (Cn , ⇥n ) Q
⇥1 . . . ⇥n Q
P
 X Y 0
Y Y X Y
X+1 Y +1
23
;

23

32

1  0
 Q P
⇥ ⇥(Q) P

(C1 , ⇥1 ), . . . , (Cn , ⇥n ) Q P
⇥0 = ⇥1 . . . ⇥n
n

n = 0 Q = ;
n > 0 Q {A1 , . . . , Am } Q0
⇥1 ({A1 , . . . , Am 1 , B1 , . . . , Bl }) C1 = A B1 , . . . , Bl [⇥2 . . . ⇥n ](Q0 )
P [⇥2 . . . ⇥n ](Q0 ) M in (P )
⇥(Q) TP (M in (P )) M in (P )
 TP TP (M in (P )) = M in (P )
⇥(Q) M in (P ) ⇥(Q) P

A 2 M in (P ) A
P

M in (P )
M in (P ) = µTP
µTP ✓ S S P

A G(P ) P
{A} ;
A0 A A
P

A D1 , . . . , Dn 2 G(P ) D1 , . . . , Dn 2 M in (P )
D1 , . . . , D n P
{D1 , . . . , Dn } {A}
{D10 , . . . , Dn0 } {D1 , . . . , Dn } A
P
µ

µ
µ
P
 P A (P )
P F n (P ) n P
P U co (P ) = ⌫ P

P (S) = A(P ) [ {f (t1 , . . . , tn ) | f 2 Fn (P ) ^ t1 , . . . , tn 2 S}

U (P )
U co (P ) U co (P )

P
P

X f (X)
X = f (X) f
 X f (X) X f (f (f (. . .)))
f

P
B co (P )
P U co (P )
Gco (P ) C D1 , . . . , Dn
P C, D1 , . . . , Dn 2 B co (P )

TP (S) = {C | C D1 , . . . , Dn 2 Gco (P ) ^ D1 , . . . , Dn 2 S}

P M co (P )
TP M co (P )
P

TP

A P
A U co (P ) M co (P )
 P1

U co (P1 ) = N [⌦[L N = {0, s(0), s(s(0)), . . .} ⌦ = {s(s(s(. . .)))} L

N ⌦ L
M co (P1 ) = {f rom(t, [t, s(t), s(s(t)), . . .]) | t 2 U co (P1 )}

f rom(0, [0, s(0), s(s(0)), . . .]) 2 M co (P1 )

P2

P2 = {p}
0 1

bit(0) bit(1)
bitstream(t) t
 node(A, L) A L
A L P
⌫⌃P

⌃P (S) = {node(C, [T1 , . . . , Tn ]) |

C D1 , . . . , Dn 2 Gco (P ) ^ Ti 2 S Di }

S = {A | 9T 2 ⌫⌃P .A T} S = M co (P )

⌃P
0 00
 E
X=t X t

V
0
E E
V

E A
E(A) E A
 S (T, E) T
E

R P
P
R ⌫(n) n

(T, E) (T 0 , E 0 )
R P

R p(t01 , . . . , t0n ) B1 , . . . , Bm E0
{t1 = t01 , . . . , tn = t0n } [ E T0 T
m

m=0 T0 T
p(t1 , . . . , tn )

m>0 T0 T B1 , . . . , Bm
p(t1 , . . . , tn )

R ⌫(m) N T p(t1 , . . . , tn )
N m p(t01 , . . . , t0n ) E 0
{t1 = t01 , . . . , tn = t0n } [ E T0 T N
 P
S1 , S2 , . . . R 1 , R2 . . . Si Si+1
Ri P

(;, E) ;
 (T, E) P
(T, E)

A P (A, ;)
P
!
 (A, E1 ) P
(;, E2 ) (A, E3 ) P E2 ✓ E3
(T, E3 ) T

(A, E1 ) P
(;, E2 )
(A, E3 )
P E2 ✓ E3
(T, E3 ) T

A P
(node(A, [B1 , . . . , Bn ]), E)
A0 B1 , . . . , Bn E(A) = E(A0 ) (Bi , E)
P

(node(A, [B1 , . . . , Bn ]), E)

P (node(A, [B1 , . . . , Bn ]), E)
A0 B1 , . . . , Bn E(A) = E(A0 ) (Bi , E)
 Bi
⌫(n)
A Bi n>0
⌫(n 1)
⌫(n) n=0

(A, E) P E 0 (E(A))
P (;, E 0 )

Q U co (P ) E 0 (E(A))
Q ✓ M co (P )

A0 2 S A0 = E1 (E2 (E3 (A))) E1

E2 (E3 (A)) (A, E3 ) (;, E2 )
(A, E) E = E1 [ E2 [ E3
A0 B1 , . . . , Bn
(node(A, [B1 , . . . , Bn ]), E) E(A) = E(A0 ) (Bi , E)
E0 E(A0
B1 , . . . , Bn ) C = E 0 (E(A0 B1 , . . . , Bn )) 2 Gco (P )
C=A E 00 (B1 ), . . . , E 00 (Bn ) E 00 = E 0 [ E (Bi , E 00 )
E 00 (Bi ) 2 Q
Q ✓ M co (P )

A
P E(A) P E
 A 2 M co (P ) A
P

A 2 M co (P ) T

R
n
⌫(n) R

T
 A
P
 µ

P p
q p=q P C D1 , . . . , Dn C p
Di q P
p q p q
G G
G

P v1
 v2 v1
v2

P
P

v v0
v v0
v v0 v v0 v0 v
v 6= v 0
v
v

TP

v P µTPv v ⌫TPv v
R
v
n ⇣ ⌘ ⇣ ⌘ o
TPv (S) = R [ q tb | q 2 v ^ [q tb c 2 Gco (P ) ^ D
D] c2S
 P M (P )
P

A P
A U co (P ) M (P )

P1

U co (P1 ) = N [ ⌦[ L N = {0, s(0), s(s(0)), . . .}

⌦ = {s(s(s(. . .)))} L N ⌦
L

M (P1 ) = {f rom(t, [t, s(t), s(s(t)), . . .]) | t 2 U co (P1 )}

f rom(0, [0, s(0), s(s(0)), . . .]) 2 M (P1 )

P10
M (P10 ) = ;

⇡ i
✏ i i
 ⇡ · ⇡0 S S
S
t
⇡ t(✏) t(⇡)
S

⇡ t ⇡·i t
i ⇡ t t
⇡ t\⇡ t0 (⇡ 0 ) = t(⇡·⇡ 0 ) node(L, T1 , . . . , Tn )
S L Ti L2S Ti
S 1  i  n node(L, T1 , . . . , Tn )(✏) = L node(L, T1 , . . . , Tn )(i · ⇡) =
Ti (⇡)

P µ⌃vP v
⌫⌃vP v R
v

⇣ ⌘
⌃vP (S) = R [ {node(q tb , T1 , . . . , Tn ) | q 2 v ^ Ti 2 S^
⇣ ⌘
[q tb D1 , . . . , Dn ] 2 Gco (P ) ^ Ti (✏) = Di }
 P
⌃P P

S = {A | 9T 2 ⌃P .A T} S = M (P )

S (F, E) F
E
 R P
P R
⌫(⇡, ⇡ 0 ) ⇡ ⇡0
⇡ ⇡0

T ⇡
T ⇢(T, ⇡ · i) T
⇡·i (T, ⇡)
(T, ⇡) = {T } ⇡ T
(T, ✏) = ; ✏ T
(T, ⇡) = (⇢(T, ⇡), ⇡ 0 ) ⇡ = ⇡0 · i T

⌫(⇡, ⇡ 0 ) ⇡
⇡0
 S x
x S

T 2F (F, E) ((F T )[F 0 , E 0 )

R P

R ⌫(⇡, ⇡ 0 ) p
⇡ ⇡0 T T (⇡) = p(t01 , . . . , t0n )
T (⇡ 0 ) = p(t1 , . . . , tn ) E 0 {t1 = t01 , . . . , tn = t0n } [ E
F 0 = (T, ⇡ 0 )

R
p(t01 , . . . , t0n ) B1 , . . . , Bm ⇡ T T (⇡) = p(t1 , . . . , tn ) E 0
{t1 = t01 , . . . , tn = t0n } [ E F0
T m p

m = 0 F 0 = (T, ⇡)

m>0 p F 0 = {T 0 } T0 T
⇡·i T 0 (⇡ · i) = Bi 1im
 m>0 p ⇡=✏ F 0 = {node(Bi ) | 1  i  m}
⇡ = ⇡0 · j j T 00 T
⇡0 · k k T 00 F 0 = {T 0 }
T0 T 00 ⇡0 · i T 0 (⇡ 0 · i) = Bi 1im
T 0 (⇡ 0 · (m + k)) = T (⇡ 0 · k) k 6= j

P
S1 S2 , . . . R 1 , R2 . . . Si Si+1
Ri P

(;, E) ;

(F, E) P
(F, E)

A1 , . . . , An
P ({node(Ai ) | 1  i  n}, ;) P
 !

!
 (A, E1 ) P (;, E2 )
(A, E3 ) P E2 ✓ E3
(F, E3 ) F

(A, E1 ) P
(;, E2 )
(A, E3 )
P E2 ✓ E3
(F, E3 ) F

A P
A0 B1 , . . . , Bn E(A) = E(A0 )
(Bi , E) P

A P
A0 B1 , . . . , Bn E(A) = E(A0 )
(Bi , E)
 Bi ⌫(⇡, ⇡ 0 )
Bi A
⇡ = i · ⇡0 ⇡ 0 = i · ⇡1 i ⇡0
⌫(⇡0 , ⇡1 )
⌫(⇡, ⇡ 0 ) ⇡=✏

(A, E) P E 0 (E(A))
P (;, E 0 )

P P
(A, E) P
E 0 (E(A)) A

P Qv
U co (P ) E 0 (E(A))
v v Qv
v

v Qv ✓ ⌫TPv
A0 2 Qv A0 = E1 (E2 (E3 (A))) E1
E2 (E3 (A)) (A, E3 )
(;, E2 ) (A, E) E = E1 [ E2 [ E3
E(A) E(A)
v
A00 B1 , . . . , Bn
(node(A, [B1 , . . . , Bn ]), E) E(A) = E(A00 )
 (Bi , E) E0
E(A00 B1 , . . . , Bn ) C = E 0 (E(A00 B1 , . . . , Bn )) 2 Gco (P )
C = A0 E 00 (B1 ), . . . , E 00 (Bn ) E 00 = E 0 [ E (Bi , E 00 )
E 00 (Bi )
v E 00 (Bi ) 2 Qv
Qv ✓ ⌫TPv

v
Qv ✓ µTPv A0 2 Qv A0 = E1 (E2 (E3 (A))) E1
E2 (E3 (A)) (A, E3 ) (;, E2 )
(A, E) E = E1 [E2 [E3 A0
v A0
v A0
A0
A0 A P A0 2 µTPv
k > 1
A00 B1 , . . . , Bn E(A) = E(A00 )
(Bi , E) E0
E(A00 B1 , . . . , Bn ) C = E 0 (E(A00 B1 , . . . , Bn )) 2 Gco (P )
C = A0 E 00 (B1 ), . . . , E 00 (Bn ) E 00 = E 0 [ E (Bi , E 00 )
k0 < k
E 00 (Bi ) v E 00 (Bi )
v E 00 (Bi ) 2 µTPv E 00 (Bi )
k0 < k
E 00 (Bi ) 2 µTPv A0 2 µTPv

A1 , . . . , A n
P E(A1 , . . . , An ) P E

A1 , . . . , An P E
E(Ai )
P E(Ai ) P

A1 , . . . , An 2 M (P ) A1 , . . . , An
A1 , . . . , A n P

n=1 n=0 n>1

A 2 M (P ) T

⇡ = ⇡ 0 ·⇡ 00
⇡0
⌫(⇡ 0 , ⇡)
R

T T
A P
 !

a
s0 s1

e b
d
c -1 0 1 2 3
s3 s2
Figure A Figure B
!

!
1
1
 0 1 2 3
1

CLP (R)
idle idle
idle

approach lower
s0 c:=0
s1 s0
approach
s1 s0 s1
e:=0 d:=0

exit c < 5 c>2 in

e=1 lower (d > 1) & d < 1 down
raise e<1
(d < 2) up
d:=0
s3 out
s2 s3
e:=0
s2 s3 s2
exit raise

(i) train (ii) controller (iii) gate idle

 work
enter
s0 s1

exit
t
repea

rep
error

eat

s3 s2
A
 A

A A

A
 A
AT AT

AT

R AT

AT
 R

A
¬

F A1 ; . . . ; Am ,

F A1 , . . . , Am (m 0) m=0
 F.

A F P1 , . . . , P n ,

A F, P1 , . . . , Pn (n 0)
A F
P1 , . . . , P n n=0

A F

Loaded Alive
Load Shoot W ait

¬Loaded,
Alive,
Load Loaded,
Shoot ¬Alive Loaded,
Shoot ¬Loaded.

F F 2
¬F F 62
(A, ) ( 0, ) 0
 ( 0, ) D D
A F

D A F
F 2 (A, )

D A ¬F
F 62 (A, )

D F 2 (A, )
F 2

¬Alive
 A

AT

A
A

AT
A A
AT AT

↵
AT

A at T1 , . . . , Tn

T1 . . . , Tn (n 0) C E C E C <E
C>E C E
n=0 at

F1 , . . . , Fm (m > 0)
 ↵1 , . . . , ↵n (n 0)

F1 , . . . , Fm after ↵1 ; . . . ; ↵n

n=0

initially F1 , . . . , Fm

A causes F1 , . . . , Fm resets C1 , . . . Cn when T1 , . . . , Tk if P1 , . . . , Pi

A F1 . . . , Fm P1 , . . . , Pi (m, i 0)
C1 , . . . , Cn (n 0) T1 , . . . , Tk (k 0) m+n+k+i > 0
 m n k i causes resets when if

wait

Drop causes ¬Holding F alling resets Clock if Holding ¬F alling

Catch causes Holding ¬F alling when Clock  1 if ¬Holding F alling
wait causes Broken ¬F alling when Clock > 1 if ¬Holding F alling

AT
A AT

initially Holding, ¬F alling, ¬Broken Broken after Drop wait

at Clock = 2

Broken after Drop Catch

at Clock = 2
 ¬Broken after Drop
Catch at Clock = 0.5

Broken after Drop Catch at Clock = 0.5

initially Broken

¬HasBall ¬ClearShot Goal Clock  0.5

if HasBall ClearShot ¬Goal
P assBall ClearShot Clock  1
¬ClearShot
¬HasBall ¬ClearShot Clock > 0.5
HasBall ClearShot
¬HasBall Clock > 1 HasBall

HasBall, ClearShot, ¬Goal Goal

ShotT aken Clock = 0.2
 ¬HasBall P assBall wait Clock = 1

AT

AT

A AT AT

AT A
( , ⇥) ⇥
F F F 2 ¬F
F 2
/
S S F 2S ⇥
⌦ S(⇥, ⌦)
C ⌦ ⇥(C)
S(( , ⇥), ⌦) ⌘ S(⇥, ⌦)

↵ (A, ⌦) A
⌦
A

⇥
⇥0 ⇧ ⇥ ⇧ ⇥0 8C.⇥(C) ⇧ ⇥0 (C)
 ( , ⇥) ⇧ ( , ⇥0 ) ⇥ ⇧ ⇥0

!
↵ 0 00 00
! ; ↵ = (A, ⌦) S( , ⌦) !
↵ 0
! ↵
0
0 =( 0 , ⇥0 )

0 ⇥0 8C.⇥0 (C) = 0
! M = ( 0 , !) M ↵1 ;...;↵n

↵1 ; . . . ; ↵n M s = M ↵1 ;...;↵n M = ( 0 , !)

{ 0} n=0
↵n
{ 0| 2 M ↵1 ;...;↵n 1
^ ! 0
}
s = M ↵1 ;...;↵n M ↵1 ;...;↵n
s

F1 , . . . , Fm after ↵1 ; . . . ; ↵n

M ( , ⇥) 2 s {F1 , . . . , Fm }
?
VM (P )
P M

↵1 ;...;↵n
= {M ↵1 ;...;↵n | M 2 }
P ⌘ F1 , . . . , Fm after ↵1 ; . . . ; ↵n
V (P )

inconsistent =; ; 2 ↵1 ;...;↵n
true 8M 2 .VM (P ) = true
f alse 8M 2 .VM (P ) = f alse
?
 ?

reset( , ⇥, A)
D
A F
P D F causes
P

D M
D P D M
VM (P ) = true
(A,⌦)
( 1 , ⇥1 ) !( 2 , ⇥2 )

M ⇥0 S(⇥0 , ⌦) ⇥1 ; ⇥0 reset( 1 ,⇥
0 ,A) ⇥2
D

0
A ( 1, ⇥ ) F F 2 2

0
A ( 1, ⇥ ) ¬F F 2
/ 2

0
A ( 1, ⇥ ) F ¬F F 2 2 F 2 1

D
D P V (P ) = true D
P V (P ) = f alse D P V (P ) = ?
 AT
R

AT

AT R

F s after As
 AT

V (P )

P
 


R

R
 R

R
 R

R
R

R
R
⇡

!
T
AT