Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study

Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users

Overcoming Language Dichotomies: Toward Effective Program Comprehension for Mobile App Development

Mobile devices and platforms have become an established target for modern software developers due to performant hardware and a large and growing user base numbering in the billions. Despite their popularity, the software development process for mobile apps comes with a set of unique, domain-specific challenges rooted in program comprehension. Many of these challenges stem from developer difficulties in reasoning about different representations of a program, a phenomenon we define as a "language dichotomy". In this paper, we reflect upon the various language dichotomies that contribute to open problems in program comprehension and development for mobile apps. Furthermore, to help guide the research community towards effective solutions for these problems, we provide a roadmap of directions for future work.Comment: Invited Keynote Paper for the 26th IEEE/ACM International Conference on Program Comprehension (ICPC'18

Developing a distributed electronic health-record store for India

The DIGHT project is addressing the problem of building a scalable and highly available information store for the Electronic Health Records (EHRs) of the over one billion citizens of India

A survey of agent-oriented methodologies

This article introduces the current agent-oriented methodologies. It discusses what approaches have been followed (mainly extending existing object oriented and knowledge engineering methodologies), the suitability of these approaches for agent modelling, and some conclusions drawn from the survey

Communities in university mathematics

This paper concerns communities of learners and teachers that are formed, develop and interact in university mathematics environments through the theoretical lens of Communities of Practice. From this perspective, learning is described as a process of participation and reification in a community in which individuals belong and form their identity through engagement, imagination and alignment. In addition, when inquiry is considered as a fundamental mode of participation, through critical alignment, the community becomes a Community of Inquiry. We discuss these theoretical underpinnings with examples of their application in research in university mathematics education and, in more detail, in two Research Cases which focus on mathematics students' and teachers' perspectives on proof and on engineering students' conceptual understanding of mathematics. The paper concludes with a critical reflection on the theorising of the role of communities in university level teaching and learning and a consideration of ways forward for future research

An ontology framework for developing platform-independent knowledge-based engineering systems in the aerospace industry

This paper presents the development of a novel knowledge-based engineering (KBE) framework for implementing platform-independent knowledge-enabled product design systems within the aerospace industry. The aim of the KBE framework is to strengthen the structure, reuse and portability of knowledge consumed within KBE systems in view of supporting the cost-effective and long-term preservation of knowledge within such systems. The proposed KBE framework uses an ontology-based approach for semantic knowledge management and adopts a model-driven architecture style from the software engineering discipline. Its phases are mainly (1) Capture knowledge required for KBE system; (2) Ontology model construct of KBE system; (3) Platform-independent model (PIM) technology selection and implementation and (4) Integration of PIM KBE knowledge with computer-aided design system. A rigorous methodology is employed which is comprised of five qualitative phases namely, requirement analysis for the KBE framework, identifying software and ontological engineering elements, integration of both elements, proof of concept prototype demonstrator and finally experts validation. A case study investigating four primitive three-dimensional geometry shapes is used to quantify the applicability of the KBE framework in the aerospace industry. Additionally, experts within the aerospace and software engineering sector validated the strengths/benefits and limitations of the KBE framework. The major benefits of the developed approach are in the reduction of man-hours required for developing KBE systems within the aerospace industry and the maintainability and abstraction of the knowledge required for developing KBE systems. This approach strengthens knowledge reuse and eliminates platform-specific approaches to developing KBE systems ensuring the preservation of KBE knowledge for the long term

Combined automotive safety and security pattern engineering approach

Automotive systems will exhibit increased levels of automation as well as ever tighter integration with other vehicles, traffic infrastructure, and cloud services. From safety perspective, this can be perceived as boon or bane - it greatly increases complexity and uncertainty, but at the same time opens up new opportunities for realizing innovative safety functions. Moreover, cybersecurity becomes important as additional concern because attacks are now much more likely and severe. However, there is a lack of experience with security concerns in context of safety engineering in general and in automotive safety departments in particular. To address this problem, we propose a systematic pattern-based approach that interlinks safety and security patterns and provides guidance with respect to selection and combination of both types of patterns in context of system engineering. A combined safety and security pattern engineering workflow is proposed to provide systematic guidance to support non-expert engineers based on best practices. The application of the approach is shown and demonstrated by an automotive case study and different use case scenarios.EC/H2020/692474/EU/Architecture-driven, Multi-concern and Seamless Assurance and Certification of Cyber-Physical Systems/AMASSEC/H2020/737422/EU/Secure COnnected Trustable Things/SCOTTEC/H2020/732242/EU/Dependability Engineering Innovation for CPS - DEIS/DEISBMBF, 01IS16043, Collaborative Embedded Systems (CrESt