A component-oriented programming framework for developing embedded mobile robot software using PECOS model

A practical framework for component-based software engineering of embedded real-time systems, particularly for autonomous mobile robot embedded software development using PECOS component model is proposed The main features of this framework are: (1) use graphical representation for components definition and composition; (2) target C language for optimal code generation with small micro-controller; and (3) does not requires run-time support except for real-time kernel. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded systems

Event-driven Adaptation in COP

Context-Oriented Programming languages provide us with primitive constructs to adapt program behaviour depending on the evolution of their operational environment, namely the context. In previous work we proposed ML_CoDa, a context-oriented language with two-components: a declarative constituent for programming the context and a functional one for computing. This paper describes an extension of ML_CoDa to deal with adaptation to unpredictable context changes notified by asynchronous events.Comment: In Proceedings PLACES 2016, arXiv:1606.0540

Modeling Adaptation with Klaim

In recent years, it has been argued that systems and applications, in order to deal with their increasing complexity, should be able to adapt their behavior according to new requirements or environment conditions. In this paper, we present an investigation aiming at studying how coordination languages and formal methods can contribute to a better understanding, implementation and use of the mechanisms and techniques for adaptation currently proposed in the literature. Our study relies on the formal coordination language Klaim as a common framework for modeling some well-known adaptation techniques: the IBM MAPE-K loop, the Accord component-based framework for architectural adaptation, and the aspect- and context-oriented programming paradigms. We illustrate our approach through a simple example concerning a data repository equipped with an automated cache mechanism

A Context-Oriented Extension of F#

Context-Oriented programming languages provide us with primitive constructs to adapt program behaviour depending on the evolution of their operational environment, namely the context. In previous work we proposed ML_CoDa, a context-oriented language with two-components: a declarative constituent for programming the context and a functional one for computing. This paper describes the implementation of ML_CoDa as an extension of F#.Comment: In Proceedings FOCLASA 2015, arXiv:1512.0694

Short answers in Scottish Gaelic and their theoretical implications

This article presents an analysis of a novel short answer strategy in Scottish Gaelic, called the Verb-Answer, which differs from standard fragment answers in allowing us to directly observe some of the clausal structure in which it is embedded. It is shown that the Verb-Answer is identical to the fragment answer in virtually all other respects, demanding a unified analysis, and it is demonstrated that pursuing a unified analysis is problematic for Direct Interpretation approaches to short answers, but straightforward for the Silent Structure approach of Morgan (1973) and Merchant (2004). The extended typology of short answer strategies therefore provides an argument in favour of the latter approach to elliptical phenomena

Emerging communities of child-healthcare practice in the management of long-term conditions such as chronic kidney disease: Qualitative study of parents' accounts

Background: Parents of children and young people with long-term conditions who need to deliver clinical care to their child at home with remote support from hospital-based professionals, often search the internet for care-giving information. However, there is little evidence that the information available online was developed and evaluated with parents or that it acknowledges the communities of practice that exist as parents and healthcare professionals share responsibility for condition management. Methods. The data reported here are part of a wider study that developed and tested a condition-specific, online parent information and support application with children and young people with chronic-kidney disease, parents and professionals. Semi-structured interviews were conducted with 19 fathers and 24 mothers who had recently tested the novel application. Data were analysed using Framework Analysis and the Communities of Practice concept. Results: Evolving communities of child-healthcare practice were identified comprising three components and several sub components: (1) Experiencing (parents making sense of clinical tasks) through Normalising care, Normalising illness, Acceptance & action, Gaining strength from the affected child and Building relationships to formalise a routine; (2) Doing (Parents executing tasks according to their individual skills) illustrated by Developing coping strategies, Importance of parents' efficacy of care and Fear of the child's health failing; and (3) Belonging/Becoming (Parents defining task and group members' worth and creating a personal identity within the community) consisting of Information sharing, Negotiation with health professionals and Achieving expertise in care. Parents also recalled factors affecting the development of their respective communities of healthcare practice; these included Service transition, Poor parent social life, Psycho-social affects, Family chronic illness, Difficulty in learning new procedures, Shielding and avoidance, and Language and cultural barriers. Health care professionals will benefit from using the communities of child-healthcare practice model when they support parents of children with chronic kidney disease. Conclusions: Understanding some of the factors that may influence the development of communities of child-healthcare practice will help professionals to tailor information and support for parents learning to manage their child's healthcare. Our results are potentially transferrable to professionals managing the care of children and young people with other long-term conditions. © 2014 Carolan et al.; licensee BioMed Central Ltd

Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search

In search applications, autonomous unmanned vehicles must be able to efficiently reacquire and localize mobile targets that can remain out of view for long periods of time in large spaces. As such, all available information sources must be actively leveraged -- including imprecise but readily available semantic observations provided by humans. To achieve this, this work develops and validates a novel collaborative human-machine sensing solution for dynamic target search. Our approach uses continuous partially observable Markov decision process (CPOMDP) planning to generate vehicle trajectories that optimally exploit imperfect detection data from onboard sensors, as well as semantic natural language observations that can be specifically requested from human sensors. The key innovation is a scalable hierarchical Gaussian mixture model formulation for efficiently solving CPOMDPs with semantic observations in continuous dynamic state spaces. The approach is demonstrated and validated with a real human-robot team engaged in dynamic indoor target search and capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference (Cambridge, UK, July 2018

Canonical Abstract Syntax Trees

This paper presents Gom, a language for describing abstract syntax trees and generating a Java implementation for those trees. Gom includes features allowing the user to specify and modify the interface of the data structure. These features provide in particular the capability to maintain the internal representation of data in canonical form with respect to a rewrite system. This explicitly guarantees that the client program only manipulates normal forms for this rewrite system, a feature which is only implicitly used in many implementations