Adaptive object management for distributed systems

This thesis describes an architecture supporting the management of pluggable software components and evaluates it against the requirement for an enterprise integration platform for the manufacturing and petrochemical industries. In a distributed environment, we need mechanisms to manage objects and their interactions. At the least, we must be able to create objects in different processes on different nodes; we must be able to link them together so that they can pass messages to each other across the network; and we must deliver their messages in a timely and reliable manner. Object based environments which support these services already exist, for example ANSAware(ANSA, 1989), DEC's Objectbroker(ACA,1992), Iona's Orbix(Orbix,1994)Yet such environments provide limited support for composing applications from pluggable components. Pluggability is the ability to install and configure a component into an environment dynamically when the component is used, without specifying static dependencies between components when they are produced. Pluggability is supported to a degree by dynamic binding. Components may be programmed to import references to other components and to explore their interfaces at runtime, without using static type dependencies. Yet thus overloads the component with the responsibility to explore bindings. What is still generally missing is an efficient general-purpose binding model for managing bindings between independently produced components. In addition, existing environments provide no clear strategy for dealing with fine grained objects. The overhead of runtime binding and remote messaging will severely reduce performance where there are a lot of objects with complex patterns of interaction. We need an adaptive approach to managing configurations of pluggable components according to the needs and constraints of the environment. Management is made difficult by embedding bindings in component implementations and by relying on strong typing as the only means of verifying and validating bindings. To solve these problems we have built a set of configuration tools on top of an existing distributed support environment. Specification tools facilitate the construction of independent pluggable components. Visual composition tools facilitate the configuration of components into applications and the verification of composite behaviours. A configuration model is constructed which maintains the environmental state. Adaptive management is made possible by changing the management policy according to this state. Such policy changes affect the location of objects, their bindings, and the choice of messaging system

The ERATO Systems Biology Workbench: Architectural Evolution

Systems biology researchers make use of a large number of different software packages for computational modeling and analysis as well as data manipulation and visualization. To help developers easily provide the ability for their applications to communicate with other tools, we have developed a simple, open-source, application integration framework, the ERATO Systems Biology Workbench (SBW). In this paper, we discuss the architecture of SBW, focusing on our motivations for various design decisions including the choice of the message-oriented communications infrastructure

Comparison of DCOM and CORBA distributed computing

The movement of distributed applications from 2-tier to n-tier architectures have enabled systems to be scaled to meet the demands of an ever increasing population of users. Two middleware architectures have come to the forefront: Microsoft\u27s DCOM and the OMG\u27s CORBA. These are not the only possible architectures for n-tier distributed applications, but they are currently the only two which offer a degree of platform independence and the flexibility of using different programming languages for development. CORBA provides platform independence because it provides a middle layer between the client and the server and services client requests using its internal naming service to identify server objects and then expose methods to the client through it\u27s object adapter (POA). CORBA is a self contained middleware that operates independent of the underlying operating system. CORBA offers the potential of ease of maintainability since server objects can be changed and the new methods can be discovered at runtime by the client using CORBAs Dynamic Invocation Interface. Client code would therefore not have be recompiled as it would using static IDL mappings and client and server stubs. DCOM, in contrast is a platform dependent solution that can only be used on Windows machines, although ports for other platforms are in the works. It relies on the Windows registry to identify objects and the operating system to assist in runtime control of objects. Because DCOM is nothing more of a remote extension to the already established Common Object Model which all contemporary Windows operating systems and applications are built upon, it may provide the easiest path to distributed applications for Windows developers that are already familiar with the Common Object Model

From Component-Based Architectures to Microservices: A 25-years-long Journey in Designing and Realizing Service-Based Systems

Distributed information systems and applications are generally described in terms of components and interfaces among them. How these component-based architectures have been designed and implemented evolved over the years, giving rise to the so-called paradigm of Service-Oriented Computing (SOC). In this chapter, we will follow a 25-years-long journey on how design methodologies and supporting technologies influenced one each other, and we discuss how already back in the late 90s the ancestors of the SOC paradigm were there, already paving the way for the technological evolution recently leading to microservice architectures and serverless computing

Towards an Open, Distributed Software Architecture for UxS Operations

To address the growing need to evaluate, test, and certify an ever expanding ecosystem of UxS platforms in preparation of cultural integration, NASA Langley Research Center's Autonomy Incubator (AI) has taken on the challenge of developing a software framework in which UxS platforms developed by third parties can be integrated into a single system which provides evaluation and testing, mission planning and operation, and out-of-the-box autonomy and data fusion capabilities. This software framework, named AEON (Autonomous Entity Operations Network), has two main goals. The first goal is the development of a cross-platform, extensible, onboard software system that provides autonomy at the mission execution and course-planning level, a highly configurable data fusion framework sensitive to the platform's available sensor hardware, and plug-and-play compatibility with a wide array of computer systems, sensors, software, and controls hardware. The second goal is the development of a ground control system that acts as a test-bed for integration of the proposed heterogeneous fleet, and allows for complex mission planning, tracking, and debugging capabilities. The ground control system should also be highly extensible and allow plug-and-play interoperability with third party software systems. In order to achieve these goals, this paper proposes an open, distributed software architecture which utilizes at its core the Data Distribution Service (DDS) standards, established by the Object Management Group (OMG), for inter-process communication and data flow. The design decisions proposed herein leverage the advantages of existing robotics software architectures and the DDS standards to develop software that is scalable, high-performance, fault tolerant, modular, and readily interoperable with external platforms and software

Robotics software frameworks for multi-agent robotic systems development

Robotics is an area of research in which the paradigm of Multi-Agent Systems (MAS) can prove to be highly useful. Multi-Agent Systems come in the form of cooperative robots in a team, sensor networks based on mobile robots, and robots in Intelligent Environments, to name but a few. However, the development of Multi-Agent Robotic Systems (MARS) still presents major challenges. Over the past decade, a high number of Robotics Software Frameworks (RSFs) have appeared which propose some solutions to the most recurrent problems in robotics. Some of these frameworks, such as ROS, YARP, OROCOS, ORCA, Open-RTM, and Open-RDK, possess certain characteristics and provide the basic infrastructure necessary for the development of MARS. The contribution of this work is the identification of such characteristics as well as the analysis of these frameworks in comparison with the general-purpose Multi-Agent System Frameworks (MASFs), such as JADE and Mobile-C.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Junta de Andalucía P06-TIC-2298Junta de Andalucía P08-TIC-0386

Design Approach to Unified Service API Modeling for Semantic Interoperability of Cross-enterprise Vehicle Applications

This work was partially supported by Ministry of Education, Youth and Sports of the Czech Republic, university specific research, project SGS-2019-018 Processing of heterogeneous data and its specialized applications

Reconfigurable middleware architectures for large scale sensor networks

Wireless sensor networks, in an effort to be energy efficient, typically lack the high-level abstractions of advanced programming languages. Though strong, the dichotomy between these two paradigms can be overcome. The SENSIX software framework, described in this dissertation, uniquely integrates constraint-dominated wireless sensor networks with the flexibility of object-oriented programming models, without violating the principles of either. Though these two computing paradigms are contradictory in many ways, SENSIX bridges them to yield a dynamic middleware abstraction unifying low-level resource-aware task reconfiguration and high-level object recomposition. Through the layered approach of SENSIX, the software developer creates a domain-specific sensing architecture by defining a customized task specification and utilizing object inheritance. In addition, SENSIX performs better at large scales (on the order of 1000 nodes or more) than other sensor network middleware which do not include such unified facilities for vertical integration

PROPOSED MIDDLEWARE SOLUTION FOR RESOURCE-CONSTRAINED DISTRIBUTED EMBEDDED NETWORKS

The explosion in processing power of embedded systems has enabled distributed embedded networks to perform more complicated tasks. Middleware are sets of encapsulations of common and network/operating system-specific functionality into generic, reusable frameworks to manage such distributed networks. This thesis will survey and categorize popular middleware implementations into three adapted layers: host-infrastructure, distribution, and common services. This thesis will then apply a quantitative approach to grading and proposing a single middleware solution from all layers for two target platforms: CubeSats and autonomous unmanned aerial vehicles (UAVs). CubeSats are 10x10x10cm nanosatellites that are popular university-level space missions, and impose power and volume constraints. Autonomous UAVs are similarly-popular hobbyist-level vehicles that exhibit similar power and volume constraints. The MAVLink middleware from the host-infrastructure layer is proposed as the middleware to manage the distributed embedded networks powering these platforms in future projects. Finally, this thesis presents a performance analysis on MAVLink managing the ARM Cortex-M 32-bit processors that power the target platforms