16,578 research outputs found

    MapSnapper: Engineering an Efficient Algorithm for Matching Images of Maps from Mobile Phones

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    The MapSnapper project aimed to develop a system for robust matching of low-quality images of a paper map taken from a mobile phone against a high quality digital raster representation of the same map. The paper presents a novel methodology for performing content-based image retrieval and object recognition from query images that have been degraded by noise and subjected to transformations through the imaging system. In addition the paper also provides an insight into the evaluation-driven development process that was used to incrementally improve the matching performance until the design specifications were met

    Image-Driven Automated End-to-End Testing for Mobile Applications

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    The increasing complexity and demand of software systems and the greater availability of test automation software is quickly rendering manual end-to-end (E2E) testing techniques for mobile platforms obsolete. This research seeks to explore the potential increase in automated test efficacy and maintainability through the use of computer vision algorithms when applied with Appium, a leading cross-platform mobile test automation framework. A testing framework written in a Node.js environment was created to support the development of E2E test scripts that examine and report the functional capabilities of a mobile test app. The test framework provides a suite of functions that connect with an Appium server and provide interaction with the mobile test app to perform actions and assertions like clicking and verifying text. To do this without modifying the test app source code, the system employs image templates representing specific app components and identifies them within the test app by utilizing feature detection, matching, and filtering. From experimentation on three test scripts across multiple iOS and Android device simulators, iOS test script runs had a pass rate of 38% on average, while Android test runs had a pass rate of 74.5% on average. The test scripts ran perfectly only on the device simulators from which the template images were extracted via screenshots, while failures were mostly due to invalid or mismatched templates. Therefore, more generic templates that appeal to a variety of different device renderings are necessary for the test framework to be completely reliable

    Autonomy Infused Teleoperation with Application to BCI Manipulation

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    Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially noisy and erratic low-dimensional motion commands due to the difficulty in decoding neural activity. We introduce a general framework to address these challenges through a combination of computer vision, user intent inference, and arbitration between the human input and autonomous control schemes. Adjustable levels of assistance allow the system to balance the operator's capabilities and feelings of comfort and control while compensating for a task's difficulty. We present experimental results demonstrating significant performance improvement using the shared-control assistance framework on adapted rehabilitation benchmarks with two subjects implanted with intracortical brain-computer interfaces controlling a seven degree-of-freedom robotic manipulator as a prosthetic. Our results further indicate that shared assistance mitigates perceived user difficulty and even enables successful performance on previously infeasible tasks. We showcase the extensibility of our architecture with applications to quality-of-life tasks such as opening a door, pouring liquids from containers, and manipulation with novel objects in densely cluttered environments

    The Galileo PPS expert monitoring and diagnostic prototype

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    The Galileo PPS Expert Monitoring Module (EMM) is a prototype system implemented on the SUN workstation that will demonstrate a knowledge-based approach to monitoring and diagnosis for the Galileo spacecraft Power/Pyro subsystems. The prototype will simulate an analysis module functioning within the SFOC Engineering Analysis Subsystem Environment (EASE). This document describes the implementation of a prototype EMM for the Galileo spacecraft Power Pyro Subsystem. Section 2 of this document provides an overview of the issues in monitoring and diagnosis and comparison between traditional and knowledge-based solutions to this problem. Section 3 describes various tradeoffs which must be considered when designing a knowledge-based approach to monitoring and diagnosis, and section 4 discusses how these issues were resolved in constructing the prototype. Section 5 presents conclusions and recommendations for constructing a full-scale demonstration of the EMM. A Glossary provides definitions of terms used in this text

    Automatically Discovering, Reporting and Reproducing Android Application Crashes

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    Mobile developers face unique challenges when detecting and reporting crashes in apps due to their prevailing GUI event-driven nature and additional sources of inputs (e.g., sensor readings). To support developers in these tasks, we introduce a novel, automated approach called CRASHSCOPE. This tool explores a given Android app using systematic input generation, according to several strategies informed by static and dynamic analyses, with the intrinsic goal of triggering crashes. When a crash is detected, CRASHSCOPE generates an augmented crash report containing screenshots, detailed crash reproduction steps, the captured exception stack trace, and a fully replayable script that automatically reproduces the crash on a target device(s). We evaluated CRASHSCOPE's effectiveness in discovering crashes as compared to five state-of-the-art Android input generation tools on 61 applications. The results demonstrate that CRASHSCOPE performs about as well as current tools for detecting crashes and provides more detailed fault information. Additionally, in a study analyzing eight real-world Android app crashes, we found that CRASHSCOPE's reports are easily readable and allow for reliable reproduction of crashes by presenting more explicit information than human written reports.Comment: 12 pages, in Proceedings of 9th IEEE International Conference on Software Testing, Verification and Validation (ICST'16), Chicago, IL, April 10-15, 2016, pp. 33-4

    Intelligent failure-tolerant control

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    An overview of failure-tolerant control is presented, beginning with robust control, progressing through parallel and analytical redundancy, and ending with rule-based systems and artificial neural networks. By design or implementation, failure-tolerant control systems are 'intelligent' systems. All failure-tolerant systems require some degrees of robustness to protect against catastrophic failure; failure tolerance often can be improved by adaptivity in decision-making and control, as well as by redundancy in measurement and actuation. Reliability, maintainability, and survivability can be enhanced by failure tolerance, although each objective poses different goals for control system design. Artificial intelligence concepts are helpful for integrating and codifying failure-tolerant control systems, not as alternatives but as adjuncts to conventional design methods

    J-MOD2^{2}: Joint Monocular Obstacle Detection and Depth Estimation

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    In this work, we propose an end-to-end deep architecture that jointly learns to detect obstacles and estimate their depth for MAV flight applications. Most of the existing approaches either rely on Visual SLAM systems or on depth estimation models to build 3D maps and detect obstacles. However, for the task of avoiding obstacles this level of complexity is not required. Recent works have proposed multi task architectures to both perform scene understanding and depth estimation. We follow their track and propose a specific architecture to jointly estimate depth and obstacles, without the need to compute a global map, but maintaining compatibility with a global SLAM system if needed. The network architecture is devised to exploit the joint information of the obstacle detection task, that produces more reliable bounding boxes, with the depth estimation one, increasing the robustness of both to scenario changes. We call this architecture J-MOD2^{2}. We test the effectiveness of our approach with experiments on sequences with different appearance and focal lengths and compare it to SotA multi task methods that jointly perform semantic segmentation and depth estimation. In addition, we show the integration in a full system using a set of simulated navigation experiments where a MAV explores an unknown scenario and plans safe trajectories by using our detection model

    Intelligent fault management for the Space Station active thermal control system

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    The Thermal Advanced Automation Project (TAAP) approach and architecture is described for automating the Space Station Freedom (SSF) Active Thermal Control System (ATCS). The baseline functionally and advanced automation techniques for Fault Detection, Isolation, and Recovery (FDIR) will be compared and contrasted. Advanced automation techniques such as rule-based systems and model-based reasoning should be utilized to efficiently control, monitor, and diagnose this extremely complex physical system. TAAP is developing advanced FDIR software for use on the SSF thermal control system. The goal of TAAP is to join Knowledge-Based System (KBS) technology, using a combination of rules and model-based reasoning, with conventional monitoring and control software in order to maximize autonomy of the ATCS. TAAP's predecessor was NASA's Thermal Expert System (TEXSYS) project which was the first large real-time expert system to use both extensive rules and model-based reasoning to control and perform FDIR on a large, complex physical system. TEXSYS showed that a method is needed for safely and inexpensively testing all possible faults of the ATCS, particularly those potentially damaging to the hardware, in order to develop a fully capable FDIR system. TAAP therefore includes the development of a high-fidelity simulation of the thermal control system. The simulation provides realistic, dynamic ATCS behavior and fault insertion capability for software testing without hardware related risks or expense. In addition, thermal engineers will gain greater confidence in the KBS FDIR software than was possible prior to this kind of simulation testing. The TAAP KBS will initially be a ground-based extension of the baseline ATCS monitoring and control software and could be migrated on-board as additional computation resources are made available

    Automating Software Development for Mobile Computing Platforms

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    Mobile devices such as smartphones and tablets have become ubiquitous in today\u27s computing landscape. These devices have ushered in entirely new populations of users, and mobile operating systems are now outpacing more traditional desktop systems in terms of market share. The applications that run on these mobile devices (often referred to as apps ) have become a primary means of computing for millions of users and, as such, have garnered immense developer interest. These apps allow for unique, personal software experiences through touch-based UIs and a complex assortment of sensors. However, designing and implementing high quality mobile apps can be a difficult process. This is primarily due to challenges unique to mobile development including change-prone APIs and platform fragmentation, just to name a few. in this dissertation we develop techniques that aid developers in overcoming these challenges by automating and improving current software design and testing practices for mobile apps. More specifically, we first introduce a technique, called Gvt, that improves the quality of graphical user interfaces (GUIs) for mobile apps by automatically detecting instances where a GUI was not implemented to its intended specifications. Gvt does this by constructing hierarchal models of mobile GUIs from metadata associated with both graphical mock-ups (i.e., created by designers using photo-editing software) and running instances of the GUI from the corresponding implementation. Second, we develop an approach that completely automates prototyping of GUIs for mobile apps. This approach, called ReDraw, is able to transform an image of a mobile app GUI into runnable code by detecting discrete GUI-components using computer vision techniques, classifying these components into proper functional categories (e.g., button, dropdown menu) using a Convolutional Neural Network (CNN), and assembling these components into realistic code. Finally, we design a novel approach for automated testing of mobile apps, called CrashScope, that explores a given android app using systematic input generation with the intrinsic goal of triggering crashes. The GUI-based input generation engine is driven by a combination of static and dynamic analyses that create a model of an app\u27s GUI and targets common, empirically derived root causes of crashes in android apps. We illustrate that the techniques presented in this dissertation represent significant advancements in mobile development processes through a series of empirical investigations, user studies, and industrial case studies that demonstrate the effectiveness of these approaches and the benefit they provide developers
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