IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

Embedding object-oriented design in system engineering

The Unified Modeling Language (UML) is a collection of techniques intended to document design decisions about software. This contrasts with systems engineering approaches such as for exampleStatemate and the Yourdon Systems Method (YSM), in which the design of an entire system consisting of software and hardware can be documented. The difference between the system- and the software level is reflected in differences between execution semantics as well as in methodology. In this paper, I show how the UML can be used as a system-level design technique. I give a conceptual framework for engineering design that accommodates the system- as well as the software level and show how techniques from the UML and YSM can be classified within this framework, and how this allows a coherent use of these techniques in a system engineering approach. These ideas are illustrated by a case study in which software for a compact dynamic bus station is designed. Finally, I discuss the consequences of this approach for a semantics of UML constructs that would be appropriate for system-level design

Designing Software Architectures As a Composition of Specializations of Knowledge Domains

This paper summarizes our experimental research and software development activities in designing robust, adaptable and reusable software architectures. Several years ago, based on our previous experiences in object-oriented software development, we made the following assumption: ‘A software architecture should be a composition of specializations of knowledge domains’. To verify this assumption we carried out three pilot projects. In addition to the application of some popular domain analysis techniques such as use cases, we identified the invariant compositional structures of the software architectures and the related knowledge domains. Knowledge domains define the boundaries of the adaptability and reusability capabilities of software systems. Next, knowledge domains were mapped to object-oriented concepts. We experienced that some aspects of knowledge could not be directly modeled in terms of object-oriented concepts. In this paper we describe our approach, the pilot projects, the experienced problems and the adopted solutions for realizing the software architectures. We conclude the paper with the lessons that we learned from this experience

Abstracting object interactions using composition filters

It is generally claimed that object-based models are very suitable for building distributed system architectures since object interactions follow the client-server model. To cope with the complexity of today's distributed systems, however, we think that high-level linguistic mechanisms are needed to effectively structure, abstract and reuse object interactions. For example, the conventional object-oriented model does not provide high-level language mechanisms to model layered system architectures. Moreover, we consider the message passing model of the conventional object-oriented model as being too low-level because it can only specify object interactions that involve two partner objects at a time and its semantics cannot be extended easily. This paper introduces Abstract Communication Types (ACTs), which are objects that abstract interactions among objects. ACTs make it easier to model layered communication architectures, to enforce the invariant behavior among objects, to reduce the complexity of programs by hiding the interaction details in separate modules and to improve reusability through the application of object-oriented principles to ACT classes. We illustrate the concept of ACTs using the composition filters model

Early aspects: aspect-oriented requirements engineering and architecture design

This paper reports on the third Early Aspects: Aspect-Oriented Requirements Engineering and Architecture Design Workshop, which has been held in Lancaster, UK, on March 21, 2004. The workshop included a presentation session and working sessions in which the particular topics on early aspects were discussed. The primary goal of the workshop was to focus on challenges to defining methodical software development processes for aspects from early on in the software life cycle and explore the potential of proposed methods and techniques to scale up to industrial applications

Towards an aspect weaving BPEL engine

This position paper proposes the use of dynamic aspects and the visitor design pattern to obtain a highly configurable and extensible BPEL engine. Using these two techniques, the core of this infrastructural software can be customised to meet new requirements and add features such as debugging, execution monitoring, or changing to another Web Service selection policy. Additionally, it can easily be extended to cope with customer-specific BPEL extensions. We propose the use of dynamic aspects not only on the engine itself but also on the workflow in order to tackle the problems of Web Service hot deployment and hot fixes to long running processes. In this way, composing aWeb Service "on-the-fly" means weaving its choreography interface into the workflow

Open Programming Language Interpreters

Context: This paper presents the concept of open programming language interpreters and the implementation of a framework-level metaobject protocol (MOP) to support them. Inquiry: We address the problem of dynamic interpreter adaptation to tailor the interpreter's behavior on the task to be solved and to introduce new features to fulfill unforeseen requirements. Many languages provide a MOP that to some degree supports reflection. However, MOPs are typically language-specific, their reflective functionality is often restricted, and the adaptation and application logic are often mixed which hardens the understanding and maintenance of the source code. Our system overcomes these limitations. Approach: We designed and implemented a system to support open programming language interpreters. The prototype implementation is integrated in the Neverlang framework. The system exposes the structure, behavior and the runtime state of any Neverlang-based interpreter with the ability to modify it. Knowledge: Our system provides a complete control over interpreter's structure, behavior and its runtime state. The approach is applicable to every Neverlang-based interpreter. Adaptation code can potentially be reused across different language implementations. Grounding: Having a prototype implementation we focused on feasibility evaluation. The paper shows that our approach well addresses problems commonly found in the research literature. We have a demonstrative video and examples that illustrate our approach on dynamic software adaptation, aspect-oriented programming, debugging and context-aware interpreters. Importance: To our knowledge, our paper presents the first reflective approach targeting a general framework for language development. Our system provides full reflective support for free to any Neverlang-based interpreter. We are not aware of any prior application of open implementations to programming language interpreters in the sense defined in this paper. Rather than substituting other approaches, we believe our system can be used as a complementary technique in situations where other approaches present serious limitations

An Analysis of Composability and Composition Anomalies

The separation of concerns principle aims at decomposing a given design problem into concerns that are mapped to multiple independent software modules. The application of this principle eases the composition of the concerns and as such supports composability. Unfortunately, a clean separation (and composition of concerns) at the design level does not always imply the composability of the concerns at the implementation level. The composability might be reduced due to limitations of the implementation abstractions and composition mechanisms. The paper introduces the notion of composition anomaly to describe a general set of unexpected composition problems that arise when mapping design concerns to implementation concerns. To distinguish composition anomalies from other composition problems the requirements for composability at the design level is provided. The ideas are illustrated for a distributed newsgroup system