Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework

Autonomous robots are utilized in a wide range of domains, combining a large number of resources like sensors, actuators and algorithms to form a self-acting robotic system. Tools, such as ROS and TeMoto, have been developed to allow for handling and managing of resources composing such systems. While TeMoto is meant to handle dynamic and changing situations the current implementation of its Resource Registrar, a core TeMoto component tasked with allocating, deallocating and tracking of resources, is tightly coupled to ROS, making it difficult to modify and improve. As a result of this thesis, the Resource Registrar (RR) of TeMoto was completely redesigned to be extendable to other robotic middleware, such as ROS2, and to improve TeMoto’s robustness with features, e.g., full recovery of the RR, that were unattainable with the previous design

A heuristic-based approach to code-smell detection

Encapsulation and data hiding are central tenets of the object oriented paradigm. Deciding what data and behaviour to form into a class and where to draw the line between its public and private details can make the difference between a class that is an understandable, flexible and reusable abstraction and one which is not. This decision is a difficult one and may easily result in poor encapsulation which can then have serious implications for a number of system qualities. It is often hard to identify such encapsulation problems within large software systems until they cause a maintenance problem (which is usually too late) and attempting to perform such analysis manually can also be tedious and error prone. Two of the common encapsulation problems that can arise as a consequence of this decomposition process are data classes and god classes. Typically, these two problems occur together – data classes are lacking in functionality that has typically been sucked into an over-complicated and domineering god class. This paper describes the architecture of a tool which automatically detects data and god classes that has been developed as a plug-in for the Eclipse IDE. The technique has been evaluated in a controlled study on two large open source systems which compare the tool results to similar work by Marinescu, who employs a metrics-based approach to detecting such features. The study provides some valuable insights into the strengths and weaknesses of the two approache

Working Notes from the 1992 AAAI Workshop on Automating Software Design. Theme: Domain Specific Software Design

The goal of this workshop is to identify different architectural approaches to building domain-specific software design systems and to explore issues unique to domain-specific (vs. general-purpose) software design. Some general issues that cut across the particular software design domain include: (1) knowledge representation, acquisition, and maintenance; (2) specialized software design techniques; and (3) user interaction and user interface

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

How we refactor and how we document it? On the use of supervised machine learning algorithms to classify refactoring documentation

Refactoring is the art of improving the structural design of a software system without altering its external behavior. Today, refactoring has become a well-established and disciplined software engineering practice that has attracted a significant amount of research presuming that refactoring is primarily motivated by the need to improve system structures. However, recent studies have shown that developers may incorporate refactoring strategies in other development-related activities that go beyond improving the design especially with the emerging challenges in contemporary software engineering. Unfortunately, these studies are limited to developer interviews and a reduced set of projects. To cope with the above-mentioned limitations, we aim to better understand what motivates developers to apply a refactoring by mining and automatically classifying a large set of 111,884 commits containing refactoring activities, extracted from 800 open source Java projects. We trained a multi-class classifier to categorize these commits into three categories, namely, Internal Quality Attribute, External Quality Attribute, and Code Smell Resolution, along with the traditional Bug Fix and Functional categories. This classification challenges the original definition of refactoring, being exclusive to improving software design and fixing code smells. Furthermore, to better understand our classification results, we qualitatively analyzed commit messages to extract textual patterns that developers regularly use to describe their refactoring activities. The results of our empirical investigation show that (1) fixing code smells is not the main driver for developers to refactoring their code bases. Refactoring is solicited for a wide variety of reasons, going beyond its traditional definition; (2) the distribution of refactoring operations differs between production and test files; (3) developers use a variety of patterns to purposefully target refactoring-related activities; (4) the textual patterns, extracted from commit messages, provide better coverage for how developers document their refactorings

Mining Fix Patterns for FindBugs Violations

In this paper, we first collect and track a large number of fixed and unfixed violations across revisions of software. The empirical analyses reveal that there are discrepancies in the distributions of violations that are detected and those that are fixed, in terms of occurrences, spread and categories, which can provide insights into prioritizing violations. To automatically identify patterns in violations and their fixes, we propose an approach that utilizes convolutional neural networks to learn features and clustering to regroup similar instances. We then evaluate the usefulness of the identified fix patterns by applying them to unfixed violations. The results show that developers will accept and merge a majority (69/116) of fixes generated from the inferred fix patterns. It is also noteworthy that the yielded patterns are applicable to four real bugs in the Defects4J major benchmark for software testing and automated repair.Comment: Accepted for IEEE Transactions on Software Engineerin

Modular Collaborative Program Analysis

With our world increasingly relying on computers, it is important to ensure the quality, correctness, security, and performance of software systems. Static analysis that computes properties of computer programs without executing them has been an important method to achieve this for decades. However, static analysis faces major chal- lenges in increasingly complex programming languages and software systems and increasing and sometimes conflicting demands for soundness, precision, and scalability. In order to cope with these challenges, it is necessary to build static analyses for complex problems from small, independent, yet collaborating modules that can be developed in isolation and combined in a plug-and-play manner. So far, no generic architecture to implement and combine a broad range of dissimilar static analyses exists. The goal of this thesis is thus to design such an architecture and implement it as a generic framework for developing modular, collaborative static analyses. We use several, diverse case-study analyses from which we systematically derive requirements to guide the design of the framework. Based on this, we propose the use of a blackboard-architecture style collaboration of analyses that we implement in the OPAL framework. We also develop a formal model of our architectures core concepts and show how it enables freely composing analyses while retaining their soundness guarantees. We showcase and evaluate our architecture using the case-study analyses, each of which shows how important and complex problems of static analysis can be addressed using a modular, collaborative implementation style. In particular, we show how a modular architecture for the construction of call graphs ensures consistent soundness of different algorithms. We show how modular analyses for different aspects of immutability mutually benefit each other. Finally, we show how the analysis of method purity can benefit from the use of other complex analyses in a collaborative manner and from exchanging different analysis implementations that exhibit different characteristics. Each of these case studies improves over the respective state of the art in terms of soundness, precision, and/or scalability and shows how our architecture enables experimenting with and fine-tuning trade-offs between these qualities