Bridging ROS for Heterogeneous Integration in Mobile Robot Systems

We investigate the difficulty of integrating disparate, heterogeneous systems which have not been designed to work together. Such difficulties may arise from differences in communication protocols or data formats, making an in- tegration effort largely manual and labor intensive. The investigation is done in the context of integrating two different robot systems, one mobile platform running ROS (Robot Operating System) and one stationary two-armed ABB robot. The thesis consists of two parts. First, existing solutions to this problem (or parts of it) are examined and evaluated for their applicability. After no suitable solution is found, a tool is then created which solves the problem of integrating non-ROS compatible devices with a ROS system. The presented tool is a program that generates modular bridging nodes between ROS and other systems. Finally, the tool proves its value in the integration of two different robots, where one system also receives some additional changes for practical reasons

MementoMap: A Web Archive Profiling Framework for Efficient Memento Routing

With the proliferation of public web archives, it is becoming more important to better profile their contents, both to understand their immense holdings as well as to support routing of requests in Memento aggregators. A memento is a past version of a web page and a Memento aggregator is a tool or service that aggregates mementos from many different web archives. To save resources, the Memento aggregator should only poll the archives that are likely to have a copy of the requested Uniform Resource Identifier (URI). Using the Crawler Index (CDX), we generate profiles of the archives that summarize their holdings and use them to inform routing of the Memento aggregator’s URI requests. Additionally, we use full text search (when available) or sample URI lookups to build an understanding of an archive’s holdings. Previous work in profiling ranged from using full URIs (no false positives, but with large profiles) to using only top-level domains (TLDs) (smaller profiles, but with many false positives). This work explores strategies in between these two extremes. For evaluation we used CDX files from Archive-It, UK Web Archive, Stanford Web Archive Portal, and Arquivo.pt. Moreover, we used web server access log files from the Internet Archive’s Wayback Machine, UK Web Archive, Arquivo.pt, LANL’s Memento Proxy, and ODU’s MemGator Server. In addition, we utilized historical dataset of URIs from DMOZ. In early experiments with various URI-based static profiling policies we successfully identified about 78% of the URIs that were not present in the archive with less than 1% relative cost as compared to the complete knowledge profile and 94% URIs with less than 10% relative cost without any false negatives. In another experiment we found that we can correctly route 80% of the requests while maintaining about 0.9 recall by discovering only 10% of the archive holdings and generating a profile that costs less than 1% of the complete knowledge profile. We created MementoMap, a framework that allows web archives and third parties to express holdings and/or voids of an archive of any size with varying levels of details to fulfil various application needs. Our archive profiling framework enables tools and services to predict and rank archives where mementos of a requested URI are likely to be present. In static profiling policies we predefined the maximum depth of host and path segments of URIs for each policy that are used as URI keys. This gave us a good baseline for evaluation, but was not suitable for merging profiles with different policies. Later, we introduced a more flexible means to represent URI keys that uses wildcard characters to indicate whether a URI key was truncated. Moreover, we developed an algorithm to rollup URI keys dynamically at arbitrary depths when sufficient archiving activity is detected under certain URI prefixes. In an experiment with dynamic profiling of archival holdings we found that a MementoMap of less than 1.5% relative cost can correctly identify the presence or absence of 60% of the lookup URIs in the corresponding archive without any false negatives (i.e., 100% recall). In addition, we separately evaluated archival voids based on the most frequently accessed resources in the access log and found that we could have avoided more than 8% of the false positives without introducing any false negatives. We defined a routing score that can be used for Memento routing. Using a cut-off threshold technique on our routing score we achieved over 96% accuracy if we accept about 89% recall and for a recall of 99% we managed to get about 68% accuracy, which translates to about 72% saving in wasted lookup requests in our Memento aggregator. Moreover, when using top-k archives based on our routing score for routing and choosing only the topmost archive, we missed only about 8% of the sample URIs that are present in at least one archive, but when we selected top-2 archives, we missed less than 2% of these URIs. We also evaluated a machine learning-based routing approach, which resulted in an overall better accuracy, but poorer recall due to low prevalence of the sample lookup URI dataset in different web archives. We contributed various algorithms, such as a space and time efficient approach to ingest large lists of URIs to generate MementoMaps and a Random Searcher Model to discover samples of holdings of web archives. We contributed numerous tools to support various aspects of web archiving and replay, such as MemGator (a Memento aggregator), Inter- Planetary Wayback (a novel archival replay system), Reconstructive (a client-side request rerouting ServiceWorker), and AccessLog Parser. Moreover, this work yielded a file format specification draft called Unified Key Value Store (UKVS) that we use for serialization and dissemination of MementoMaps. It is a flexible and extensible file format that allows easy interactions with Unix text processing tools. UKVS can be used in many applications beyond MementoMaps

Adding eScience Assets to the Data Web

Aggregations of Web resources are increasingly important in scholarship as it adopts new methods that are data-centric, collaborative, and networked-based. The same notion of aggregations of resources is common to the mashed-up, socially networked information environment of Web 2.0. We present a mechanism to identify and describe aggregations of Web resources that has resulted from the Open Archives Initiative - Object Reuse and Exchange (OAI-ORE) project. The OAI-ORE specifications are based on the principles of the Architecture of the World Wide Web, the Semantic Web, and the Linked Data effort. Therefore, their incorporation into the cyberinfrastructure that supports eScholarship will ensure the integration of the products of scholarly research into the Data Web.Comment: 10 pages, 7 figures. Proceedings of Linked Data on the Web (LDOW2009) Worksho

Impact of ROS 2 Node Composition in Robotic Systems

The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed in the computational graph. This paper explores and benchmarks one of these new node types -- the Component node -- which allows nodes to be composed manually or dynamically into processes while retaining separation of concerns in a codebase for distributed development. Composition is shown to achieve a high degree of performance optimization, particularly valuable for resource-constrained systems and sensor processing pipelines, enabling distributed tasks that would not be otherwise possible in ROS 2. In this work, we briefly introduce the significance and design of node composition, then our contribution of benchmarking is provided to analyze its impact on robotic systems. Its compelling influence on performance is shown through several experiments on the latest Long Term Support (LTS) ROS 2 distribution, Humble Hawksbill.Comment: IEEE Robotics and Automation Letters, 202

Quality Goal Oriented Architectural Design and Traceability for Evolvable Software Systems

Softwaresysteme werden heute z.B. aufgrund sich ändernder Geschäftsprozesse oder Technologien mit häufigen Veränderungen konfrontiert. Die Software und speziell ihre Architektur muss diese Änderungen zur dauerhaften Nutzbarkeit ermöglichen.Während der Software-Evolution können Änderungen zu einer Verschlechterung der Architektur führen, der Architekturerosion. Dies erschwert oder verhindert weitere Änderungen wegen Inkonsistenz oder fehlendem Programmverstehen. Zur Erosionsvermeidung müssen Qualitätsziele wie Weiterentwickelbarkeit, Performanz oder Usability sowie die Nachvollziehbarkeit von Architekturentwurfsentscheidungen berücksichtigt werden. Dies wird jedoch oft vernachlässigt.Existierende Entwurfsmethoden unterstützen den Übergang von Qualitätzielen zu geeigneten Architekturlösungen nur unzureichend aufgrund einer Lücke zwischen Methoden des Requirements Engineering und des Architekturentwurfs. Insbesondere gilt dies für Weiterentwickelbarkeit und die Nachvollziehbarkeit von Entwurfsentscheidungen durch explizite Modellabhängigkeiten.Diese Arbeit präsentiert ein neues Konzept, genannt Goal Solution Scheme, das Qualitätsziele über Architekturprinzipien auf Lösungsinstrumente durch explizite Abhängigkeiten abbildet. Es hilft somit, Architekturlösungen entsprechend ihrem Einfluss auf Qualitätsziele auszuwählen. Das Schema wird speziell hinsichtlich Weiterentwickelbarkeit diskutiert und ist in ein zielorientiertes Vorgehen eingebettet, das etablierte Methoden und Konzepte des Requirements Engineering und Architekturentwurfs verbessert und integriert. Dies wird ergänzt durch ein Traceability-Konzept, welches einen regelbasierten Ansatz mit Techniken des Information Retrieval verbindet. Dies ermöglicht eine (halb-) automatische Erstellung von Traceability Links mit spezifischen Linktypen und Attributen für eine reichhaltige Semantik sowie mit hoher Genauigkeit und Trefferquote.Die Realisierbarkeit des Ansatzes wird an einer Fallstudie einer Software für mobile Serviceroboter gezeigt. Das Werkzeug EMFTrace wurde als eine erweiterbare Plattform basierend auf Eclipse-Technologie implementiert, um die Anwendbarkeit der Konzepte zu zeigen. Es integriert Entwurfsmodelle von externen CASE-Tools mittels XML-Technologie in einem gemeinsamen Modell-Repository, wendet Regeln zur Linkerstellung an und bietet Validierungsfunktionen für Regeln und Links.Today software systems are frequently faced with demands for changes, for example, due to changing business processes or technologies. The software and especially its architecture has to cope with those frequent changes to permanently remain usable.During software evolution changes can lead to a deterioration of the structure of software architectures called architectural erosion, which hampers or even inhibits further changes because of inconsistencies or lacking program comprehension. To support changes and avoid erosion, especially quality goals, such as evolvability, performance, or usability, and the traceability of design decisions have to be considered during architectural design. This however often is neglected.Existing design methods do not sufficiently support the transition from the quality goals to appropriate architectural solutions because there is still a gap between requirements engineering and architectural design methods. Particularly support is lacking for the goal evolvability and for the traceability of design decisions by explicit model dependencies.This thesis presents a new concept called Goal Solution Scheme, which provides a mapping from goals via architectural principles to solution instruments by explicit dependencies. Thus it helps to select appropriate architectural solutions according to their influence on quality goals. The scheme is discussed especially regarding evolvability, and it is embedded in a goal-oriented architectural design method, which enhances and integrates established methods and concepts from requirements engineering as well as architectural design. This is supplemented by a traceability concept, which combines a rule-based approach with information retrieval techniques for a (semi-) automated establishment of links with specific link types and attributes for rich semantics and a high precision and recall.The feasibility of the design approach has been evaluated in a case study of a software platform for mobile robots. A prototype tool suite called EMFTrace was implemented as an extensible platform based on Eclipse technology to show the practicability of the thesis' concept. It integrates design models from external CASE tools in a joint model repository by means of XML technology, applies rules for link establishment, and provides validation capabilities for rules and links

Context-Independent Task Knowledge for Neurosymbolic Reasoning in Cognitive Robotics

One of the current main goals of artificial intelligence and robotics research is the creation of an artificial assistant which can have flexible, human like behavior, in order to accomplish everyday tasks. A lot of what is context-independent task knowledge to the human is what enables this flexibility at multiple levels of cognition. In this scope the author analyzes how to acquire, represent and disambiguate symbolic knowledge representing context-independent task knowledge, abstracted from multiple instances: this thesis elaborates the incurred problems, implementation constraints, current state-of-the-art practices and ultimately the solutions newly introduced in this scope. The author specifically discusses acquisition of context-independent task knowledge from large amounts of human-written texts and their reusability in the robotics domain; the acquisition of knowledge on human musculoskeletal dependencies constraining motion which allows a better higher level representation of observed trajectories; the means of verbalization of partial contextual and instruction knowledge, increasing interaction possibilities with the human as well as contextual adaptation. All the aforementioned points are supported by evaluation in heterogeneous setups, to bring a view on how to make optimal use of statistical & symbolic applications (i.e. neurosymbolic reasoning) in cognitive robotics. This work has been performed to enable context-adaptable artificial assistants, by bringing together knowledge on what is usually regarded as context-independent task knowledge