Prior-knowledge assisted fast 3D map building of structured environments for steel bridge maintenance

Practical application of a robot in a structured, yet unknown environment, such as in bridge maintenance, requires the robot to quickly generate an accurate map of the surfaces in the environment. A consistent and complete map is fundamental to achieving reliable and robust operation. In a real-world and field application, sensor noise and insufficient exploration oftentimes result in an incomplete map. This paper presents a robust environment mapping approach using prior knowledge in combination with a single depth camera mounted on the end-effector of a robotic manipulator. The approach has been successfully implemented in an industrial setting for the purpose of steel bridge maintenance. A prototype robot, which includes the presented map building approach in its software package, has recently been delivered to industry. © 2013 IEEE

Analyzing the Influence of Processor Speed and Clock Speed on Remaining Useful Life Estimation of Software Systems

Prognostics and Health Management (PHM) is a discipline focused on predicting the point at which systems or components will cease to perform as intended, typically measured as Remaining Useful Life (RUL). RUL serves as a vital decision-making tool for contingency planning, guiding the timing and nature of system maintenance. Historically, PHM has primarily been applied to hardware systems, with its application to software only recently explored. In a recent study we introduced a methodology and demonstrated how changes in software can impact the RUL of software. However, in practical software development, real-time performance is also influenced by various environmental attributes, including operating systems, clock speed, processor performance, RAM, machine core count and others. This research extends the analysis to assess how changes in environmental attributes, such as operating system and clock speed, affect RUL estimation in software. Findings are rigorously validated using real performance data from controlled test beds and compared with predictive model-generated data. Statistical validation, including regression analysis, supports the credibility of the results. The controlled test bed environment replicates and validates faults from real applications, ensuring a standardized assessment platform. This exploration yields actionable knowledge for software maintenance and optimization strategies, addressing a significant gap in the field of software health management

Inverse software configuration management

Software systems are playing an increasingly important role in almost every aspect of today’s society such that they impact on our businesses, industry, leisure, health and safety. Many of these systems are extremely large and complex and depend upon the correct interaction of many hundreds or even thousands of heterogeneous components. Commensurate with this increased reliance on software is the need for high quality products that meet customer expectations, perform reliably and which can be cost-effectively and safely maintained. Techniques such as software configuration management have proved to be invaluable during the development process to ensure that this is the case. However, there are a very large number of legacy systems which were not developed under controlled conditions, but which still, need to be maintained due to the heavy investment incorporated within them. Such systems are characterised by extremely high program comprehension overheads and the probability that new errors will be introduced during the maintenance process often with serious consequences. To address the issues concerning maintenance of legacy systems this thesis has defined and developed a new process and associated maintenance model, Inverse Software Configuration Management (ISCM). This model centres on a layered approach to the program comprehension process through the definition of a number of software configuration abstractions. This information together with the set of rules for reclaiming the information is stored within an Extensible System Information Base (ESIB) via, die definition of a Programming-in-the- Environment (PITE) language, the Inverse Configuration Description Language (ICDL). In order to assist the application of the ISCM process across a wide range of software applications and system architectures, die PISCES (Proforma Identification Scheme for Configurations of Existing Systems) method has been developed as a series of defined procedures and guidelines. To underpin the method and to offer a user-friendly interface to the process a series of templates, the Proforma Increasing Complexity Series (PICS) has been developed. To enable the useful employment of these techniques on large-scale systems, the subject of automation has been addressed through the development of a flexible meta-CASE environment, the PISCES M4 (MultiMedia Maintenance Manager) system. Of particular interest within this environment is the provision of a multimedia user interface (MUI) to die maintenance process. As a means of evaluating the PISCES method and to provide feedback into die ISCM process a number of practical applications have been modelled. In summary, this research has considered a number of concepts some of which are innovative in themselves, others of which are used in an innovative manner. In combination these concepts may be considered to considerably advance the knowledge and understanding of die comprehension process during the maintenance of legacy software systems. A number of publications have already resulted from the research and several more are in preparation. Additionally a number of areas for further study have been identified some of which are already underway as funded research and development projects

Performance Study on Natural Marker Detection for Augmented Reality Supported Facility Maintenance

The operation and maintenance phase is the longest and most expensive life-cycle period of building facilities. Operators need to perform activities to provide a comfortable living and working environment and to upkeep equipment to prevent functionality failures. For that purpose they manually browse, sort and select dispersed and unformatted facility information before actually going on the site. Although some software tools have been introduced, they still spent 50% of the on-site work on inspection target localization and navigation. To improve these manual, time consuming and tedious procedures, the authors previously presented a framework that uses BIM-based Augmented Reality (AR) to support facility maintenance tasks. The proposed workflow contains AR supported activities, namely AR-based indoor navigation and AR-based maintenance instructions. An inherent problem of AR is marker definition and detection. As introduced, indoor natural markers such as exit signs, fire extinguisher location signs, and appliances’ labels were identified to be suitable for both navigation and maintenance instructions. However, small markers, changing lighting conditions, low detection frame rates and accuracies might prevent the proposed approach from being practical. In this paper the performance of natural marker detection will be evaluated under different configurations, varying marker types, marker sizes, camera resolutions and lighting conditions. The detection performance will be measured using pre-defined metrics incorporating detection accuracy, tracking quality, frame rates, and robustness. The result will be a set of recommendations on what configurations are most suitable and practical within the given framework

Support for collaborative component-based software engineering

Collaborative system composition during design has been poorly supported by traditional CASE tools (which have usually concentrated on supporting individual projects) and almost exclusively focused on static composition. Little support for maintaining large distributed collections of heterogeneous software components across a number of projects has been developed. The CoDEEDS project addresses the collaborative determination, elaboration, and evolution of design spaces that describe both static and dynamic compositions of software components from sources such as component libraries, software service directories, and reuse repositories. The GENESIS project has focussed, in the development of OSCAR, on the creation and maintenance of large software artefact repositories. The most recent extensions are explicitly addressing the provision of cross-project global views of large software collections and historical views of individual artefacts within a collection. The long-term benefits of such support can only be realised if OSCAR and CoDEEDS are widely adopted and steps to facilitate this are described. This book continues to provide a forum, which a recent book, Software Evolution with UML and XML, started, where expert insights are presented on the subject. In that book, initial efforts were made to link together three current phenomena: software evolution, UML, and XML. In this book, focus will be on the practical side of linking them, that is, how UML and XML and their related methods/tools can assist software evolution in practice. Considering that nowadays software starts evolving before it is delivered, an apparent feature for software evolution is that it happens over all stages and over all aspects. Therefore, all possible techniques should be explored. This book explores techniques based on UML/XML and a combination of them with other techniques (i.e., over all techniques from theory to tools). Software evolution happens at all stages. Chapters in this book describe that software evolution issues present at stages of software architecturing, modeling/specifying, assessing, coding, validating, design recovering, program understanding, and reusing. Software evolution happens in all aspects. Chapters in this book illustrate that software evolution issues are involved in Web application, embedded system, software repository, component-based development, object model, development environment, software metrics, UML use case diagram, system model, Legacy system, safety critical system, user interface, software reuse, evolution management, and variability modeling. Software evolution needs to be facilitated with all possible techniques. Chapters in this book demonstrate techniques, such as formal methods, program transformation, empirical study, tool development, standardisation, visualisation, to control system changes to meet organisational and business objectives in a cost-effective way. On the journey of the grand challenge posed by software evolution, the journey that we have to make, the contributory authors of this book have already made further advances

Software Engineering Program: Software Process Improvement Guidebook

The purpose of this document is to provide experience-based guidance in implementing a software process improvement program in any NASA software development or maintenance community. This guidebook details how to define, operate, and implement a working software process improvement program. It describes the concept of the software process improvement program and its basic organizational components. It then describes the structure, organization, and operation of the software process improvement program, illustrating all these concepts with specific NASA examples. The information presented in the document is derived from the experiences of several NASA software organizations, including the SEL, the SEAL, and the SORCE. Their experiences reflect many of the elements of software process improvement within NASA. This guidebook presents lessons learned in a form usable by anyone considering establishing a software process improvement program within his or her own environment. This guidebook attempts to balance general and detailed information. It provides material general enough to be usable by NASA organizations whose characteristics do not directly match those of the sources of the information and models presented herein. It also keeps the ideas sufficiently close to the sources of the practical experiences that have generated the models and information

Advanced Techniques for Assets Maintenance Management

16th IFAC Symposium on Information Control Problems in Manufacturing INCOM 2018 Bergamo, Italy, 11–13 June 2018. Edited by Marco Macchi, László Monostori, Roberto PintoThe aim of this paper is to remark the importance of new and advanced techniques supporting decision making in different business processes for maintenance and assets management, as well as the basic need of adopting a certain management framework with a clear processes map and the corresponding IT supporting systems. Framework processes and systems will be the key fundamental enablers for success and for continuous improvement. The suggested framework will help to define and improve business policies and work procedures for the assets operation and maintenance along their life cycle. The following sections present some achievements on this focus, proposing finally possible future lines for a research agenda within this field of assets management

An empirical study evaluating depth of inheritance on the maintainability of object-oriented software

This empirical research was undertaken as part of a multi-method programme of research to investigate unsupported claims made of object-oriented technology. A series of subject-based laboratory experiments, including an internal replication, tested the effect of inheritance depth on the maintainability of object-oriented software. Subjects were timed performing identical maintenance tasks on object-oriented software with a hierarchy of three levels of inheritance depth and equivalent object-based software with no inheritance. This was then replicated with more experienced subjects. In a second experiment of similar design, subjects were timed performing identical maintenance tasks on object-oriented software with a hierarchy of five levels of inheritance depth and the equivalent object-based software. The collected data showed that subjects maintaining object-oriented software with three levels of inheritance depth performed the maintenance tasks significantly quicker than those maintaining equivalent object-based software with no inheritance. In contrast, subjects maintaining the object-oriented software with five levels of inheritance depth took longer, on average, than the subjects maintaining the equivalent object-based software (although statistical significance was not obtained). Subjects' source code solutions and debriefing questionnaires provided some evidence suggesting subjects began to experience diffculties with the deeper inheritance hierarchy. It is not at all obvious that object-oriented software is going to be more maintainable in the long run. These findings are sufficiently important that attempts to verify the results should be made by independent researchers