Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project

Los resúmenes se publicarán e imprimirán en la revista Instrumentation Viewpoint: ISSN: 1886-4864 y se incluirán en los materiales de la conferencia. Los artículos completos se publicarán electrónicamente como actas de la conferencia.This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framewo

Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project

This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framework

Modeling an Industrial Revolution: How to Manage Large-Scale, Complex IoT Ecosystems?

Advancements around the modern digital industry gave birth to a number of closely interrelated concepts: in the age of the Internet of Things (IoT), System of Systems (SoS), Cyber-Physical Systems (CPS), Digital Twins and the fourth industrial revolution, everything revolves around the issue of designing well-understood, sound and secure complex systems while providing maximum flexibility, autonomy and dynamics.The aim of the paper is to present a concise overview of a comprehensive conceptual framework for integrated modeling and management of industrial IoT architectures, supported by actual evidence from the Arrowhead Tools project; in particular, we adopt a three-dimensional projection of our complex engineering space, from modeling the engineering process to SoS design and deployment.In particular, we start from modeling principles of the the engineering process itself. Then, we present a design-time SoS representation along with a toolchain concept aiding SoS design and deployment. This brings us to reasoning about what potential workflows are thinkable for specifying comprehensive toolchains along with their data exchange interfaces. We also discuss the potential of aligning our vision with RAMI4.0, as well as the utilization perspectives for real-life engineering use-cases

Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project

This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framework.Peer Reviewe

Mining software repositories to determine the impact of team factors on the structural attributes of software

This thesis was submitted for the award of PhD and was awarded by Brunel University LondonSoftware development is intrinsically a human activity and the role of the development team has been established as among the most decisive of all project success factors. Prior research has proven empirically that team size and stability are linked to stakeholder satisfaction, team productivity and fault-proneness. Team size is usually considered a measure of the number of developers that modify the source code of a project while team stability is typically a function of the cumulative time that each team member has worked with their fellow team members. There is, however, limited research investigating the impact of these factors on software maintainability - a crucial aspect given that up to 80% of development budgets are consumed in the maintenance phase of the lifecycle. This research sheds light on how these aspects of team composition influence the structural attributes of the developed software that, in turn, drive the maintenance costs of software. This thesis asserts that new and broader insights can be gained by measuring these internal attributes of the software rather than the more traditional approach of measuring its external attributes. This can also enable practitioners to measure and monitor key indicators throughout the development lifecycle taking remedial action where appropriate. Within this research the GoogleCode open-source forge is mined and a sample of 1,480 Java projects are selected for further study. Using the Chidamber and Kemerer design metrics suite, the impact of development team size and stability on the internal structural attributes of software is isolated and quantified. Drawing on prior research correlating these internal attributes with external attributes, the impact on maintainability is deduced. This research finds that those structural attributes that have been established to correlate to fault-proneness - coupling, cohesion and modularity - show degradation as team sizes increase or team stability decreases. That degradation in the internal attributes of the software is associated with a deterioration in the sub-attributes of maintainability; changeability, understandability, testability and stability

The impact of developer team sizes on the structural attributes of software

It is established that the internal quality of software is a key determinant of the total cost of ownership of that software. The objective of this research is to determine the impact that the development team’s size has on the internal structural attributes of a codebase and, in doing so, we consider the impact that the team’s size may have on the internal quality of the software that they produce. In this paper we leverage the wealth of data available in the open-source domain by mining detailed data from 1000 projects in Google Code and, coupled with one of the most established of object-oriented metric suites, we isolate and identify the effect that the development team size has on internal structural attributes of the software produced. We will find that some measures of functional decomposition are enhanced when we compare projects authored by fewer developers against those authored by a larger number of developers while measures of cohesion and complexity are degraded

DevOps for Trustworthy Smart IoT Systems

ENACT is a research project funded by the European Commission under its H2020 program. The project consortium consists of twelve industry and research member organisations spread across the whole EU. The overall goal of the ENACT project was to provide a novel set of solutions to enable DevOps in the realm of trustworthy Smart IoT Systems. Smart IoT Systems (SIS) are complex systems involving not only sensors but also actuators with control loops distributed all across the IoT, Edge and Cloud infrastructure. Since smart IoT systems typically operate in a changing and often unpredictable environment, the ability of these systems to continuously evolve and adapt to their new environment is decisive to ensure and increase their trustworthiness, quality and user experience. DevOps has established itself as a software development life-cycle model that encourages developers to continuously bring new features to the system under operation without sacrificing quality. This book reports on the ENACT work to empower the development and operation as well as the continuous and agile evolution of SIS, which is necessary to adapt the system to changes in its environment, such as newly appearing trustworthiness threats

DevOps for Trustworthy Smart IoT Systems

ENACT is a research project funded by the European Commission under its H2020 program. The project consortium consists of twelve industry and research member organisations spread across the whole EU. The overall goal of the ENACT project was to provide a novel set of solutions to enable DevOps in the realm of trustworthy Smart IoT Systems. Smart IoT Systems (SIS) are complex systems involving not only sensors but also actuators with control loops distributed all across the IoT, Edge and Cloud infrastructure. Since smart IoT systems typically operate in a changing and often unpredictable environment, the ability of these systems to continuously evolve and adapt to their new environment is decisive to ensure and increase their trustworthiness, quality and user experience. DevOps has established itself as a software development life-cycle model that encourages developers to continuously bring new features to the system under operation without sacrificing quality. This book reports on the ENACT work to empower the development and operation as well as the continuous and agile evolution of SIS, which is necessary to adapt the system to changes in its environment, such as newly appearing trustworthiness threats

Behavioural Types: from Theory to Tools

This book presents research produced by members of COST Action IC1201: Behavioural Types for Reliable Large-Scale Software Systems (BETTY), a European research network that was funded from October 2012 to October 2016. The technical theme of BETTY was the use of behavioural type systems in programming languages, to specify and verify properties of programs beyond the traditional use of type systems to describe data processing. A significant area within behavioural types is session types, which concerns the use of type-theoretic techniques to describe communication protocols so that static typechecking or dynamic monitoring can verify that protocols are implemented correctly. This is closely related to the topic of choreography, in which system design starts from a description of the overall communication flows. Another area is behavioural contracts, which describe the obligations of interacting agents in a way that enables blame to be attributed to the agent responsible for failed interaction. Type-theoretic techniques can also be used to analyse potential deadlocks due to cyclic dependencies between inter-process interactions. BETTY was organised into four Working Groups: (1) Foundations; (2) Security; (3) Programming Languages; (4) Tools and Applications. Working Groups 1–3 produced “state-of-the-art reports”, which originally intended to take snapshots of the field at the time the network started, but grew into substantial survey articles including much research carried out during the network [1–3]. The situation for Working Group 4 was different. When the network started, the community had produced relatively few implementations of programming languages or tools. One of the aims of the network was to encourage more implementation work, and this was a great success. The community as a whole has developed a greater interest in putting theoretical ideas into practice. The sixteen chapters in this book describe systems that were either completely developed, or substantially extended, during BETTY. The total of 41 co-authors represents a significant proportion of the active participants in the network (around 120 people who attended at least one meeting). The book is a report on the new state of the art created by BETTY in xv xvi Preface the area of Working Group 4, and the title “Behavioural Types: from Theory to Tools” summarises the trajectory of the community during the last four years. The book begins with two tutorials by Atzei et al. on contract-oriented design of distributed systems. Chapter 1 introduces the CO2 contract specifi- cation language and the Diogenes toolchain. Chapter 2 describes how timing constraints can be incorporated into the framework and checked with the CO2 middleware. Part of the CO2 middleware is a monitoring system, and the theme of monitoring continues in the next two chapters. In Chapter 3, Attard et al. present detectEr, a runtime monitoring tool for Erlang programs that allows correctness properties to be expressed in Hennessy-Milner logic. In Chapter 4, which is the first chapter about session types, Neykova and Yoshida describe a runtime verification framework for Python programs. Communication protocols are specified in the Scribble language, which is based on multiparty session types. The next three chapters deal with choreographic programming. In Chap- ter 5, Debois and Hildebrandt present a toolset for working with dynamic condition response (DCR) graphs, which are a graphical formalism for choreography. Chapter 6, by Lange et al., continues the graphical theme with ChorGram, a tool for synthesising global graphical choreographies from collections of communicating finite-state automata. Giallorenzo et al., in Chapter 7, consider runtime adaptation. They describe AIOCJ, a choreographic programming language in which runtime adaptation is supported with a guarantee that it doesn’t introduce deadlocks or races. Deadlock analysis is important in other settings too, and there are two more chapters about it. In Chapter 8, Padovani describes the Hypha tool, which uses a type-based approach to check deadlock-freedom and lock-freedom of systems modelled in a form of pi-calculus. In Chapter 9, Garcia and Laneve present a tool for analysing deadlocks in Java programs; this tool, called JaDA, is based on a behavioural type system. The next three chapters report on projects that have added session types to functional programming languages in order to support typechecking of communication-based code. In Chapter 10, Orchard and Yoshida describe an implementation of session types in Haskell, and survey several approaches to typechecking the linearity conditions required for safe session implemen- tation. In Chapter 11, Melgratti and Padovani describe an implementation of session types in OCaml. Their system uses runtime linearity checking. In Chapter 12, Lindley and Morris describe an extension of the web programming language Links with session types; their work contrasts with the previous two chapters in being less constrained by an existing language design. Continuing the theme of session types in programming languages, the next two chapters describe two approaches based on Java. Hu’s work, presented in Chapter 13, starts with the Scribble description of a multiparty session type and generates an API in the form of a collection of Java classes, each class containing the communication methods that are available in a particular state of the protocol. Dardha et al., in Chapter 14, also start with a Scribble specification. Their StMungo tool generates an API as a single class with an associated typestate specification to constrain sequences of method calls. Code that uses the API can be checked for correctness with the Mungo typechecker. Finally, there are two chapters about programming with the MPI libraries. Chapter 15, by Ng and Yoshida, uses an extension of Scribble, called Pabble, to describe protocols that parametric in the number of runtime roles. From a Pabble specification they generate C code that uses MPI for communication and is guaranteed correct by construction. Chapter 16, by Ng et al., describes the ParTypes framework for analysing existing C+MPI programs with respect to protocols defined in an extension of Scribble. We hope that the book will serve a useful purpose as a report on the activities of COST Action IC1201 and as a survey of programming languages and tools based on behavioural types