A Model-Driven Engineering Approach for ROS using Ontological Semantics

This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies to facilitate the development and reuse of ROS-based components and applications. In ReApp, we show how different ontological classification systems for hardware, software, and capabilities help developers in discovering suitable software components for their tasks and in applying them correctly. The proposed model-driven tooling enables developers to work at higher abstraction levels and fosters automatic code generation. It is underpinned by ontologies to minimize discontinuities in the development workflow, with an integrated development environment presenting a seamless interface to the user. First results show the viability and synergy of the selected approach when searching for or developing software with reuse in mind.Comment: Presented at DSLRob 2015 (arXiv:1601.00877), Stefan Zander, Georg Heppner, Georg Neugschwandtner, Ramez Awad, Marc Essinger and Nadia Ahmed: A Model-Driven Engineering Approach for ROS using Ontological Semantic

Correlation between nucleotide composition and folding energy of coding sequences with special attention to wobble bases

Background: The secondary structure and complexity of mRNA influences its accessibility to regulatory molecules (proteins, micro-RNAs), its stability and its level of expression. The mobile elements of the RNA sequence, the wobble bases, are expected to regulate the formation of structures encompassing coding sequences. Results: The sequence/folding energy (FE) relationship was studied by statistical, bioinformatic methods in 90 CDS containing 26,370 codons. I found that the FE (dG) associated with coding sequences is significant and negative (407 kcal/1000 bases, mean +/- S.E.M.) indicating that these sequences are able to form structures. However, the FE has only a small free component, less than 10% of the total. The contribution of the 1st and 3rd codon bases to the FE is larger than the contribution of the 2nd (central) bases. It is possible to achieve a ~ 4-fold change in FE by altering the wobble bases in synonymous codons. The sequence/FE relationship can be described with a simple algorithm, and the total FE can be predicted solely from the sequence composition of the nucleic acid. The contributions of different synonymous codons to the FE are additive and one codon cannot replace another. The accumulated contributions of synonymous codons of an amino acid to the total folding energy of an mRNA is strongly correlated to the relative amount of that amino acid in the translated protein. Conclusion: Synonymous codons are not interchangable with regard to their role in determining the mRNA FE and the relative amounts of amino acids in the translated protein, even if they are indistinguishable in respect of amino acid coding.Comment: 14 pages including 6 figures and 1 tabl

Molecular abundances in OMC-1: The chemical composition of interstellar molecular clouds and the influence of massive star formation

We present here an investigation of the chemical composition of the various regions in the core of the Orion molecular cloud (OMC-1) based on results from the Caltech Owens Valley Radio Observatory (OVRO) millimeter-wave spectral line survey (Sutton et al.; Blake et al.). This survey covered a 55 GHz interval in the 1.3 mm (230 GHz) atmospheric window and contained emission from over 800 resolved spectral features. Of the 29 identified species 14 have a sufficient number of detected transitions to be investigated with an LTE "rotation diagram" technique, in which large numbers of lines are used to estimate both the rotational excitation and the overall abundance. The rotational temperatures and column densities resulting from these fits have then been used to model the emission from those remaining species which either have too few lines or which are too weak to be so analyzed. When different kinematic sources of emission are blended to produce a single feature, Gaussian fits have been used to derive the individual contributions to the total line profile. The uniformly calibrated data in the unique and extensive Caltech spectral line survey lead to accurate estimates of the chemical and physical parameters of the Orion molecular cloud, and place significant constraints on models of interstellar chemistry. A global analysis of the observed abundances shows that the markedly different chemical compositions of the kinematically and spatially distinct Orion subsources may be interpreted in the framework of an evolving, initially quiescent, gas-phase chemistry influenced by the process of massive star formation. The chemical composition of the extended Orion cloud complex is similar to that found in a number of other objects, but the central regions of OMC-1 have had their chemistry selectively altered by the radiation and high-velocity outflow from the young stars embedded deep within the interior of the molecular cloud. Specifically, the extended ridge clouds are inferred to have a low (subsolar) gas-phase oxygen content from the prevalence of reactive carbon-rich species like CN, CCH, and C_3H_2 also found in more truly quiescent objects such as TMC-1. The similar abundances of these and other simple species in clouds like OMC-1, Sgr B2, and TMC-1 lend support to gas-phase ion-molecule models of interstellar chemistry, but grain processes may also play a significant role in maintaining the overall chemical balance in such regions through selective depletion mechanisms and grain mantle processing. In contrast, the chemical compositions of the more turbulent plateau and hot core components of OMC-1 are dominated by high-temperature, shock-induced gas and grain surface neutral-neutral reaction processes. The high silicon/sulfur oxide and water content of the plateau gas is best modeled by fast shock disruption of smaller grain cores to release the more refractory elements followed by a predominantly neutral chemistry in the cooling postshock regions, while a more passive release of grain mantle products driven toward kinetic equilibrium most naturally explains the prominence of fully hydrogenated N-containing species like HCN, NH_3 , CH_3CN, and C_2H_5CN in the hot core. The clumpy nature of the outflow is illustrated by the high-velocity emission observed from easily decomposed molecules such as H_2CO. Areas immediately adjacent to the shocked core in which the cooler, ion-rich gas of the surrounding molecular cloud is mixed with water/oxygen rich gas from the plateau source are proposed to give rise to the enhanced abundances of complex internal rotors such as CH_30H, HCOOCH_3 , and CH_30CH_3 whose line widths are similar to carbon-rich species such as CN and CCH found in the extended ridge, but whose rotational temperatures are somewhat higher and whose spatial extents are much more compact

An overview of advancements in helicopter transmission design

Development of a high temperature operating helicopter gearbox is discussed