ImageJ2: ImageJ for the next generation of scientific image data

ImageJ is an image analysis program extensively used in the biological sciences and beyond. Due to its ease of use, recordable macro language, and extensible plug-in architecture, ImageJ enjoys contributions from non-programmers, amateur programmers, and professional developers alike. Enabling such a diversity of contributors has resulted in a large community that spans the biological and physical sciences. However, a rapidly growing user base, diverging plugin suites, and technical limitations have revealed a clear need for a concerted software engineering effort to support emerging imaging paradigms, to ensure the software's ability to handle the requirements of modern science. Due to these new and emerging challenges in scientific imaging, ImageJ is at a critical development crossroads. We present ImageJ2, a total redesign of ImageJ offering a host of new functionality. It separates concerns, fully decoupling the data model from the user interface. It emphasizes integration with external applications to maximize interoperability. Its robust new plugin framework allows everything from image formats, to scripting languages, to visualization to be extended by the community. The redesigned data model supports arbitrarily large, N-dimensional datasets, which are increasingly common in modern image acquisition. Despite the scope of these changes, backwards compatibility is maintained such that this new functionality can be seamlessly integrated with the classic ImageJ interface, allowing users and developers to migrate to these new methods at their own pace. ImageJ2 provides a framework engineered for flexibility, intended to support these requirements as well as accommodate future needs

RDCL 3D, a Model Agnostic Web Framework for the Design and Composition of NFV Services

We present RDCL 3D, a "model agnostic" web framework for the design and composition of NFV services and components. The framework allows editing and validating the descriptors of services and components both textually and graphically and supports the interaction with external orchestrators or with deployment and execution environments. RDCL 3D is open source and designed with a modular approach, allowing developers to "plug in" the support for new models. We describe several advances with respect to the NFV state of the art, which have been implemented with RDCL 3D. We have integrated in the platform the latest ETSI NFV ISG model specifications for which no parsers/validators were available. We have also included in the platform the support for OASIS TOSCA models, reusing existing parsers. Then we have considered the modelling of components in a modular software router (Click), which goes beyond the traditional scope of NFV. We have further developed this approach by combining traditional NFV components (Virtual Network Functions) and Click elements in a single model. Finally, we have considered the support of this solution using the Unikernels virtualization technology.Comment: Accepted pape

Italian center for Astronomical Archives publishing solution: modular and distributed

The Italian center for Astronomical Archives tries to provide astronomical data resources as interoperable services based on IVOA standards. Its VO expertise and knowledge comes from active participation within IVOA and VO at European and international level, with a double-fold goal: learn from the collaboration and provide inputs to the community. The first solution to build an easy to configure and maintain resource publisher conformant to VO standards proved to be too optimistic. For this reason it has been necessary to re-think the architecture with a modular system built around the messaging concept, where each modular component speaks to the other interested parties through a system of broker-managed queues. The first implemented protocol, the Simple Cone Search, shows the messaging task architecture connecting the parametric HTTP interface to the database backend access module, the logging module, and allows multiple cone search resources to be managed together through a configuration manager module. Even if relatively young, it already proved the flexibility required by the overall system when the database backend changed from MySQL to PostgreSQL+PgSphere. Another implementation test has been made to leverage task distribution over multiple servers to serve simultaneously: FITS cubes direct linking, cubes cutout and cubes positional merging. Currently the implementation of the SIA-2.0 standard protocol is ongoing while for TAP we will be adapting the TAPlib library. Alongside these tools a first administration tool (TASMAN) has been developed to ease the build up and maintenance of TAP_SCHEMA-ta including also ObsCore maintenance capability. Future work will be devoted at widening the range of VO protocols covered by the set of available modules, improve the configuration management and develop specific purpose modules common to all the service components.Comment: SPIE Astronomical Telescopes + Instrumentation 2018, Software and Cyberinfrastructure for Astronomy V, pre-publishing draft proceeding (reduced abstract

Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

In recent years, the robotics community has witnessed the development of several software stacks for ground and articulated robots, such as Navigation2 and MoveIt. However, the same level of collaboration and standardization is yet to be achieved in the field of aerial robotics, where each research group has developed their own frameworks. This work presents Aerostack2, a framework for the development of autonomous aerial robotics systems that aims to address the lack of standardization and fragmentation of efforts in the field. Built on ROS 2 middleware and featuring an efficient modular software architecture and multi-robot orientation, Aerostack2 is a versatile and platform-independent environment that covers a wide range of robot capabilities for autonomous operation. Its major contributions include providing a logical level for specifying missions, reusing components and sub-systems for aerial robotics, and enabling the development of complete control architectures. All major contributions have been tested in simulation and real flights with multiple heterogeneous swarms. Aerostack2 is open source and community oriented, democratizing the access to its technology by autonomous drone systems developers

CMS Data Analysis: Current Status and Future Strategy

We present the current status of CMS data analysis architecture and describe work on future Grid-based distributed analysis prototypes. CMS has two main software frameworks related to data analysis: COBRA, the main framework, and IGUANA, the interactive visualisation framework. Software using these frameworks is used today in the world-wide production and analysis of CMS data. We describe their overall design and present examples of their current use with emphasis on interactive analysis. CMS is currently developing remote analysis prototypes, including one based on Clarens, a Grid-enabled client-server tool. Use of the prototypes by CMS physicists will guide us in forming a Grid-enriched analysis strategy. The status of this work is presented, as is an outline of how we plan to leverage the power of our existing frameworks in the migration of CMS software to the Grid.Comment: 4 pages, 3 figures, contribution to CHEP`03 conferenc

Video Editing with Single Responsibility Principle

Non-linear video editors are typically extremely big and complicated programs that are able to do many complicated operations for all kinds of video formats. A professional video editor should be able to encode and decode all kinds of formats, cut and join video clips, apply flters to those videos (including color correction), analyze those videos in real time (histograms and tracking), do audio editing with digital signal processing, render 3D graphics and show them in real time, render texts, animate all efects and texts with their properties (position, opacity, etc.) with keyframes, and fnally a professional video editor should be able to play these all clips in real time while showing the current output of the video editing. Of course, there is also rendering, but encoding was mentioned earlier and when the video is already processed in real time, the rendering should be trivial. The main challenge, which this thesis attempts to solve, is that these applications are extremely complex and contain multiple components that could be applications on their own. If one component crashes, the whole program crashes. The exact point of single responsibility principle (can be seen as part of UNIX philosophy in this case) is to have applications that do one thing and do it well. This means that all the parts of the modern complex video editor would be divided into small modular parts that function on their own but are able to talk with each other. This also means that the end user does not lose all the progress that has been made, which in turn will make the video editing much easier and smoother experience. This kind of modularity and its possibilities are researched in this thesis

A Vision of Collaborative Verification-Driven Engineering of Hybrid Systems

Abstract. Hybrid systems with both discrete and continuous dynamics are an important model for real-world physical systems. The key challenge is how to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure safety seem to be model-driven engineering to develop hybrid systems in a well-defined and traceable manner, and formal verification to prove their correctness. Their combination forms the vision of verification-driven engineering. Despite the remarkable progress in automating formal verification of hybrid systems, the construction of proofs of complex systems often requires significant human guidance, since hybrid systems verification tools solve undecidable problems. It is thus not uncommon for verification teams to consist of many players with diverse expertise. This paper introduces a verification-driven engineering toolset that extends our previous work on hybrid and arithmetic verification with tools for (i) modeling hybrid systems, (ii) exchanging and comparing models and proofs, and (iii) managing verification tasks. This toolset makes it easier to tackle large-scale verification tasks.

Indoor Navigation and Manipulation using a Segway RMP

This project dealt with a Segway RMP, utilizing it in an assistive-technology manner, encompassing navigation and manipulation aspects of robotics. First, background research was conducted to develop a blueprint for the robot. The hardware, software, and configuration of the RMP was updated, and a robotic arm was designed to extend the RMP’s capabilities. The robot was programmed to accomplish autonomous multi-floor navigation through the use of the navigation stack in ROS, image detection, and a GUI. The robot can navigate through the hallways of the building utilizing the elevator. The robotic arm was designed to accomplish tasks such as pressing a button and picking an object up off of a table. The Segway RMP is designed to be utilized and expanded upon as a robotics research platform