You Cannot Fix What You Cannot Find! An Investigation of Fault Localization Bias in Benchmarking Automated Program Repair Systems

Properly benchmarking Automated Program Repair (APR) systems should contribute to the development and adoption of the research outputs by practitioners. To that end, the research community must ensure that it reaches significant milestones by reliably comparing state-of-the-art tools for a better understanding of their strengths and weaknesses. In this work, we identify and investigate a practical bias caused by the fault localization (FL) step in a repair pipeline. We propose to highlight the different fault localization configurations used in the literature, and their impact on APR systems when applied to the Defects4J benchmark. Then, we explore the performance variations that can be achieved by `tweaking' the FL step. Eventually, we expect to create a new momentum for (1) full disclosure of APR experimental procedures with respect to FL, (2) realistic expectations of repairing bugs in Defects4J, as well as (3) reliable performance comparison among the state-of-the-art APR systems, and against the baseline performance results of our thoroughly assessed kPAR repair tool. Our main findings include: (a) only a subset of Defects4J bugs can be currently localized by commonly-used FL techniques; (b) current practice of comparing state-of-the-art APR systems (i.e., counting the number of fixed bugs) is potentially misleading due to the bias of FL configurations; and (c) APR authors do not properly qualify their performance achievement with respect to the different tuning parameters implemented in APR systems.Comment: Accepted by ICST 201

Mixed marker-based/marker-less visual odometry system for mobile robots

When moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision‐based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision‐based odometry algorithm, which is capable of estimating the relative frame‐to‐frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off‐the‐shelf quadrotor via extensive experimental test

Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real-time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.Comment: submitted to IROS 201

Secret Key Generation Based on AoA Estimation for Low SNR Conditions

In the context of physical layer security, a physical layer characteristic is used as a common source of randomness to generate the secret key. Therefore an accurate estimation of this characteristic is the core for reliable secret key generation. Estimation of almost all the existing physical layer characteristic suffer dramatically at low signal to noise (SNR) levels. In this paper, we propose a novel secret key generation algorithm that is based on the estimated angle of arrival (AoA) between the two legitimate nodes. Our algorithm has an outstanding performance at very low SNR levels. Our algorithm can exploit either the Azimuth AoA to generate the secret key or both the Azimuth and Elevation angles to generate the secret key. Exploiting a second common source of randomness adds an extra degree of freedom to the performance of our algorithm. We compare the performance of our algorithm to the algorithm that uses the most commonly used characteristics of the physical layer which are channel amplitude and phase. We show that our algorithm has a very low bit mismatch rate (BMR) at very low SNR when both channel amplitude and phase based algorithm fail to achieve an acceptable BMR