Teaching humanoid robotics by means of human teleoperation through RGB-D sensors

This paper presents a graduate course project on humanoid robotics offered by the University of Padova. The target is to safely lift an object by teleoperating a small humanoid. Students have to map human limbs into robot joints, guarantee the robot stability during the motion, and teleoperate the robot to perform the correct movement. We introduce the following innovative aspects with respect to classical robotic classes: i) the use of humanoid robots as teaching tools; ii) the simplification of the stable locomotion problem by exploiting the potential of teleoperation; iii) the adoption of a Project-Based Learning constructivist approach as teaching methodology. The learning objectives of both course and project are introduced and compared with the students\u2019 background. Design and constraints students have to deal with are reported, together with the amount of time they and their instructors dedicated to solve tasks. A set of evaluation results are provided in order to validate the authors\u2019 purpose, including the students\u2019 personal feedback. A discussion about possible future improvements is reported, hoping to encourage further spread of educational robotics in schools at all levels

HOMEBOTS: Intelligent Decentralized Services for Energy Management

The deregulation of the European energy market, combined with emerging advanced capabilities of information technology, provides strategic opportunities for new knowledge-oriented services on the power grid. HOMEBOTS is the namewe have coined for one of these innovative services: decentralized power load management at the customer side, automatically carried out by a `society' of interactive household, industrial and utility equipment. They act as independent intelligent agents that communicate and negotiate in a computational market economy. The knowledge and competence aspects of this application are discussed, using an improved \ud version of task analysis according to the COMMONKADS knowledge methodology. Illustrated by simulation results, we indicate how customer knowledge can be mobilized to achieve joint goals of cost and energy savings. General implications for knowledge creation and its management are discussed

Logic programming in the context of multiparadigm programming: the Oz experience

Oz is a multiparadigm language that supports logic programming as one of its major paradigms. A multiparadigm language is designed to support different programming paradigms (logic, functional, constraint, object-oriented, sequential, concurrent, etc.) with equal ease. This article has two goals: to give a tutorial of logic programming in Oz and to show how logic programming fits naturally into the wider context of multiparadigm programming. Our experience shows that there are two classes of problems, which we call algorithmic and search problems, for which logic programming can help formulate practical solutions. Algorithmic problems have known efficient algorithms. Search problems do not have known efficient algorithms but can be solved with search. The Oz support for logic programming targets these two problem classes specifically, using the concepts needed for each. This is in contrast to the Prolog approach, which targets both classes with one set of concepts, which results in less than optimal support for each class. To explain the essential difference between algorithmic and search programs, we define the Oz execution model. This model subsumes both concurrent logic programming (committed-choice-style) and search-based logic programming (Prolog-style). Instead of Horn clause syntax, Oz has a simple, fully compositional, higher-order syntax that accommodates the abilities of the language. We conclude with lessons learned from this work, a brief history of Oz, and many entry points into the Oz literature.Comment: 48 pages, to appear in the journal "Theory and Practice of Logic Programming

Next generation software environments : principles, problems, and research directions

The past decade has seen a burgeoning of research and development in software environments. Conferences have been devoted to the topic of practical environments, journal papers produced, and commercial systems sold. Given all the activity, one might expect a great deal of consensus on issues, approaches, and techniques. This is not the case, however. Indeed, the term "environment" is still used in a variety of conflicting ways. Nevertheless substantial progress has been made and we are at least nearing consensus on many critical issues.The purpose of this paper is to characterize environments, describe several important principles that have emerged in the last decade or so, note current open problems, and describe some approaches to these problems, with particular emphasis on the activities of one large-scale research program, the Arcadia project. Consideration is also given to two related topics: empirical evaluation and technology transition. That is, how can environments and their constituents be evaluated, and how can new developments be moved effectively into the production sector

Scenic: A Language for Scenario Specification and Scene Generation

We propose a new probabilistic programming language for the design and analysis of perception systems, especially those based on machine learning. Specifically, we consider the problems of training a perception system to handle rare events, testing its performance under different conditions, and debugging failures. We show how a probabilistic programming language can help address these problems by specifying distributions encoding interesting types of inputs and sampling these to generate specialized training and test sets. More generally, such languages can be used for cyber-physical systems and robotics to write environment models, an essential prerequisite to any formal analysis. In this paper, we focus on systems like autonomous cars and robots, whose environment is a "scene", a configuration of physical objects and agents. We design a domain-specific language, Scenic, for describing "scenarios" that are distributions over scenes. As a probabilistic programming language, Scenic allows assigning distributions to features of the scene, as well as declaratively imposing hard and soft constraints over the scene. We develop specialized techniques for sampling from the resulting distribution, taking advantage of the structure provided by Scenic's domain-specific syntax. Finally, we apply Scenic in a case study on a convolutional neural network designed to detect cars in road images, improving its performance beyond that achieved by state-of-the-art synthetic data generation methods.Comment: 41 pages, 36 figures. Full version of a PLDI 2019 paper (extending UC Berkeley EECS Department Tech Report No. UCB/EECS-2018-8

Semantic Technologies for Manuscript Descriptions — Concepts and Visions

The contribution at hand relates recent developments in the area of the World Wide Web to codicological research. In the last number of years, an informational extension of the internet has been discussed and extensively researched: the Semantic Web. It has already been applied in many areas, including digital information processing of cultural heritage data. The Semantic Web facilitates the organisation and linking of data across websites, according to a given semantic structure. Software can then process this structural and semantic information to extract further knowledge. In the area of codicological research, many institutions are making efforts to improve the online availability of handwritten codices. If these resources could also employ Semantic Web techniques, considerable research potential could be unleashed. However, data acquisition from less structured data sources will be problematic. In particular, data stemming from unstructured sources needs to be made accessible to SemanticWeb tools through information extraction techniques. In the area of museum research, the CIDOC Conceptual Reference Model (CRM) has been widely examined and is being adopted successfully. The CRM translates well to Semantic Web research, and its concentration on contextualization of objects could support approaches in codicological research. Further concepts for the creation and management of bibliographic coherences and structured vocabularies related to the CRM will be considered in this chapter. Finally, a user scenario showing all processing steps in their context will be elaborated on

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

Security-sensitive tackling of obstructed workflow executions

Imposing access control onto workflows considerably reduces the set of users authorized to execute the workflow tasks. Further constraints (e.g. Separation of Duties) as well as unexpected unavailabilty of users may finally obstruct the successful workflow execution. To still complete the execution of an obstructed workflow, we envisage a hybrid approach. If a log is provided, we partition its traces into “successful” and “obstructed” ones by analysing the given workflow and its authorizations. An obstruction should then be solved by finding its nearest match from the list of successful traces. If no log is provided, we flatten the workflow and its authorizations into a Petri net and encode the obstruction with a corresponding “obstruction marking”. The structural theory of Petri nets shall then be tweaked to provide a minimized Parikh vector, that may violate given firing rules, however reach a complete marking and by that, complete the workflow.Peer ReviewedPostprint (published version