Semantic Robot Programming for Goal-Directed Manipulation in Cluttered Scenes

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal scene in workspace. The robot then parses this goal as a scene graph comprised of object poses and inter-object relations, assuming known object geometries. Task and motion planning is then used to realize the user's goal from an arbitrary initial scene configuration. Even when faced with different initial scene configurations, SRP enables the robot to seamlessly adapt to reach the user's demonstrated goal. For scene perception, we propose the Discriminatively-Informed Generative Estimation of Scenes and Transforms (DIGEST) method to infer the initial and goal states of the world from RGBD images. The efficacy of SRP with DIGEST perception is demonstrated for the task of tray-setting with a Michigan Progress Fetch robot. Scene perception and task execution are evaluated with a public household occlusion dataset and our cluttered scene dataset.Comment: published in ICRA 201

Mungo and StMungo: tools for typechecking protocols in Java

We present two tools that support static typechecking of communica- tion protocols in Java. Mungo associates Java classes with typestate specifications, which are state machines defining permitted sequences of method calls. StMungo translates a communication protocol specified in the Scribble protocol description language into a typestate specification for each role in the protocol by following the message sequence. Role implementations can be typechecked by Mungo to ensure that they satisfy their protocols, and then compiled as usual with javac. We demonstrate the Scribble, StMungo and Mungo toolchain via a typechecked POP3 client that can communicate with a real-world POP3 server

FV-RAD : a practical framework for rapid application development

Estágio realizado na OPT-Optimização e Planeamento de Transportes, S.ATese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 200

Evaluation of Frame- and Feature-based Software Product Line Tools from the Viewpoint of Mass Customization by End Users

Customers expect Information and Communications Technology (ICT) platforms and applications to deliver services customized to their needs. Software product line (SPL) paradigm uses platforms and variability management to develop mass-customizable software applications. The paradigm necessitates effective software tools to manage platform and application artifacts and traceability and variability information. This paper constructs a comprehensive but lightweight tool evaluation framework and uses it to evaluate two tools, XML-based variant configuration language (XVCL) and FeaturePlugin – a feature modeling plug-in for Eclipse Integrated Development Environment. The paper analyzes the capabilities of the tools for enabling the mass customization of software applications by the end users performing complex workflows. Both the XVCL and FeaturePlugin tool envisage more efficient software system development by means of reusability, support for abstraction, and configuration mechanisms. Future research is needed to refine and validate the evaluation framework in the context of other types of SPL tools

GOGGLES: Automatic Image Labeling with Affinity Coding

Generating large labeled training data is becoming the biggest bottleneck in building and deploying supervised machine learning models. Recently, the data programming paradigm has been proposed to reduce the human cost in labeling training data. However, data programming relies on designing labeling functions which still requires significant domain expertise. Also, it is prohibitively difficult to write labeling functions for image datasets as it is hard to express domain knowledge using raw features for images (pixels). We propose affinity coding, a new domain-agnostic paradigm for automated training data labeling. The core premise of affinity coding is that the affinity scores of instance pairs belonging to the same class on average should be higher than those of pairs belonging to different classes, according to some affinity functions. We build the GOGGLES system that implements affinity coding for labeling image datasets by designing a novel set of reusable affinity functions for images, and propose a novel hierarchical generative model for class inference using a small development set. We compare GOGGLES with existing data programming systems on 5 image labeling tasks from diverse domains. GOGGLES achieves labeling accuracies ranging from a minimum of 71% to a maximum of 98% without requiring any extensive human annotation. In terms of end-to-end performance, GOGGLES outperforms the state-of-the-art data programming system Snuba by 21% and a state-of-the-art few-shot learning technique by 5%, and is only 7% away from the fully supervised upper bound.Comment: Published at 2020 ACM SIGMOD International Conference on Management of Dat

The gestures that software culture is made of

This paper demonstrates the relevance of Vilém Flusser’s concept of post-industrial (programmed) apparatus in contemporary programmed media theory, as represented in the paper by software studies. Examples of software art projects that investigate the limits of apparatus programmability are introduced as examples of artistic gestures of freedom. The interpretation is supported by references to the general theory of gesture proposed by Flusser. The paper suggests that this new interpretative method, described by the author as a discipline for the ‘new people’ of the future can serve alongside software studies as an appropriate theory of software art, understood as gestures of freedom within the apparatus of programmed media

Industrialising Software Development in Systems Integration

Compared to other disciplines, software engineering as of today is still dependent on craftsmanship of highly-skilled workers. However, with constantly increasing complexity and efforts, existing software engineering approaches appear more and more inefficient. A paradigm shift towards industrial production methods seems inevitable. Recent advances in academia and practice have lead to the availability of industrial key principles in software development as well. Specialization is represented in software product lines, standardization and systematic reuse are available with component-based development, and automation has become accessible through model-driven engineering. While each of the above is well researched in theory, only few cases of successful implementation in the industry are known. This becomes even more evident in specialized areas of software engineering such as systems integration. Today’s IT systems need to quickly adapt to new business requirements due to mergers and acquisitions and cooperations between enterprises. This certainly leads to integration efforts, i.e. joining different subsystems into a cohesive whole in order to provide new functionality. In such an environment. the application of industrial methods for software development seems even more important. Unfortunately, software development in this field is a highly complex and heterogeneous undertaking, as IT environments differ from customer to customer. In such settings, existing industrialization concepts would never break even due to one-time projects and thus insufficient economies of scale and scope. This present thesis, therefore, describes a novel approach for a more efficient implementation of prior key principles while considering the characteristics of software development for systems integration. After identifying the characteristics of the field and their affects on currently-known industrialization concepts, an organizational model for industrialized systems integration has thus been developed. It takes software product lines and adapts them in a way feasible for a systems integrator active in several business domains. The result is a three-tiered model consolidating recurring activities and reducing the efforts for individual product lines. For the implementation of component-based development, the present thesis assesses current component approaches and applies an integration metamodel to the most suitable one. This ensures a common understanding of systems integration across different product lines and thus alleviates component reuse, even across product line boundaries. The approach is furthermore aligned with the organizational model to depict in which way component-based development may be applied in industrialized systems integration. Automating software development in systems integration with model-driven engineering was found to be insufficient in its current state. The reason herefore lies in insufficient tool chains and a lack of modelling standards. As an alternative, an XML-based configuration of products within a software product line has been developed. It models a product line and its products with the help of a domain-specific language and utilizes stylesheet transformations to generate compliable artefacts. The approach has been tested for its feasibility within an exemplarily implementation following a real-world scenario. As not all aspects of industrialized systems integration could be simulated in a laboratory environment, the concept was furthermore validated during several expert interviews with industry representatives. Here, it was also possible to assess cultural and economic aspects. The thesis concludes with a detailed summary of the contributions to the field and suggests further areas of research in the context of industrialized systems integration

Automatic Software Repair: a Bibliography

This article presents a survey on automatic software repair. Automatic software repair consists of automatically finding a solution to software bugs without human intervention. This article considers all kinds of repairs. First, it discusses behavioral repair where test suites, contracts, models, and crashing inputs are taken as oracle. Second, it discusses state repair, also known as runtime repair or runtime recovery, with techniques such as checkpoint and restart, reconfiguration, and invariant restoration. The uniqueness of this article is that it spans the research communities that contribute to this body of knowledge: software engineering, dependability, operating systems, programming languages, and security. It provides a novel and structured overview of the diversity of bug oracles and repair operators used in the literature