Software Reuse across Robotic Platforms: Limiting the effects of diversity

Robots have diverse capabilities and complex interactions with their environment. Software development for robotic platforms is time consuming due to the complex nature of the tasks to be performed. Such an environment demands sound software engineering practices to produce high quality software. However software engineering in the robotics domain fails to facilitate any significant level of software reuse or portability. This paper identifies the major issues limiting software reuse in the robotics domain. Lack of standardisation, diversity of robotic platforms, and the subtle effects of environmental interaction all contribute to this problem. It is then shown that software components, fuzzy logic, and related techniques can be used together to address this problem. While complete software reuse is not possible, it is demonstrated that significant levels of software reuse can be obtained. Without an acceptable level of reuse or portability, software engineering in the robotics domain will not be able to meet the demands of a rapidly developing field. The work presented in this paper demonstrates a method for supporting software reuse across robotic platforms and hence facilitating improved software engineering practices

Deuce: A Lightweight User Interface for Structured Editing

We present a structure-aware code editor, called Deuce, that is equipped with direct manipulation capabilities for invoking automated program transformations. Compared to traditional refactoring environments, Deuce employs a direct manipulation interface that is tightly integrated within a text-based editing workflow. In particular, Deuce draws (i) clickable widgets atop the source code that allow the user to structurally select the unstructured text for subexpressions and other relevant features, and (ii) a lightweight, interactive menu of potential transformations based on the current selections. We implement and evaluate our design with mostly standard transformations in the context of a small functional programming language. A controlled user study with 21 participants demonstrates that structural selection is preferred to a more traditional text-selection interface and may be faster overall once users gain experience with the tool. These results accord with Deuce's aim to provide human-friendly structural interactions on top of familiar text-based editing.Comment: ICSE 2018 Paper + Supplementary Appendice

Expressing advanced user preferences in component installation

State of the art component-based software collections - such as FOSS distributions - are made of up to dozens of thousands components, with complex inter-dependencies and conflicts. Given a particular installation of such a system, each request to alter the set of installed components has potentially (too) many satisfying answers. We present an architecture that allows to express advanced user preferences about package selection in FOSS distributions. The architecture is composed by a distribution-independent format for describing available and installed packages called CUDF (Common Upgradeability Description Format), and a foundational language called MooML to specify optimization criteria. We present the syntax and semantics of CUDF and MooML, and discuss the partial evaluation mechanism of MooML which allows to gain efficiency in package dependency solvers

Description of the CUDF Format

This document contains several related specifications, together they describe the document formats related to the solver competition which will be organized by Mancoosi. In particular, this document describes: - DUDF (Distribution Upgradeability Description Format), the document format to be used to submit upgrade problem instances from user machines to a (distribution-specific) database of upgrade problems; - CUDF (Common Upgradeability Description Format), the document format used to encode upgrade problems, abstracting over distribution-specific details. Solvers taking part in the competition will be fed with input in CUDF format

Automatic vs Manual Provenance Abstractions: Mind the Gap

In recent years the need to simplify or to hide sensitive information in provenance has given way to research on provenance abstraction. In the context of scientific workflows, existing research provides techniques to semi automatically create abstractions of a given workflow description, which is in turn used as filters over the workflow's provenance traces. An alternative approach that is commonly adopted by scientists is to build workflows with abstractions embedded into the workflow's design, such as using sub-workflows. This paper reports on the comparison of manual versus semi-automated approaches in a context where result abstractions are used to filter report-worthy results of computational scientific analyses. Specifically; we take a real-world workflow containing user-created design abstractions and compare these with abstractions created by ZOOM UserViews and Workflow Summaries systems. Our comparison shows that semi-automatic and manual approaches largely overlap from a process perspective, meanwhile, there is a dramatic mismatch in terms of data artefacts retained in an abstracted account of derivation. We discuss reasons and suggest future research directions.Comment: Preprint accepted to the 2016 workshop on the Theory and Applications of Provenance, TAPP 201

Concurrent Lexicalized Dependency Parsing: A Behavioral View on ParseTalk Events

The behavioral specification of an object-oriented grammar model is considered. The model is based on full lexicalization, head-orientation via valency constraints and dependency relations, inheritance as a means for non-redundant lexicon specification, and concurrency of computation. The computation model relies upon the actor paradigm, with concurrency entering through asynchronous message passing between actors. In particular, we here elaborate on principles of how the global behavior of a lexically distributed grammar and its corresponding parser can be specified in terms of event type networks and event networks, resp.Comment: 68kB, 5pages Postscrip

Designing Reusable Systems that Can Handle Change - Description-Driven Systems : Revisiting Object-Oriented Principles

In the age of the Cloud and so-called Big Data systems must be increasingly flexible, reconfigurable and adaptable to change in addition to being developed rapidly. As a consequence, designing systems to cater for evolution is becoming critical to their success. To be able to cope with change, systems must have the capability of reuse and the ability to adapt as and when necessary to changes in requirements. Allowing systems to be self-describing is one way to facilitate this. To address the issues of reuse in designing evolvable systems, this paper proposes a so-called description-driven approach to systems design. This approach enables new versions of data structures and processes to be created alongside the old, thereby providing a history of changes to the underlying data models and enabling the capture of provenance data. The efficacy of the description-driven approach is exemplified by the CRISTAL project. CRISTAL is based on description-driven design principles; it uses versions of stored descriptions to define various versions of data which can be stored in diverse forms. This paper discusses the need for capturing holistic system description when modelling large-scale distributed systems.Comment: 8 pages, 1 figure and 1 table. Accepted by the 9th Int Conf on the Evaluation of Novel Approaches to Software Engineering (ENASE'14). Lisbon, Portugal. April 201