Model-driven engineering for mobile robotic systems: a systematic mapping study

Mobile robots operate in various environments (e.g. aquatic, aerial, or terrestrial), they come in many diverse shapes and they are increasingly becoming parts of our lives. The successful engineering of mobile robotics systems demands the interdisciplinary collaboration of experts from different domains, such as mechanical and electrical engineering, artificial intelligence, and systems engineering. Research and industry have tried to tackle this heterogeneity by proposing a multitude of model-driven solutions to engineer the software of mobile robotics systems. However, there is no systematic study of the state of the art in model-driven engineering (MDE) for mobile robotics systems that could guide research or practitioners in finding model-driven solutions and tools to efficiently engineer mobile robotics systems. The paper is contributing to this direction by providing a map of software engineering research in MDE that investigates (1) which types of robots are supported by existing MDE approaches, (2) the types and characteristics of MRSs that are engineered using MDE approaches, (3) a description of how MDE approaches support the engineering of MRSs, (4) how existing MDE approaches are validated, and (5) how tools support existing MDE approaches. We also provide a replication package to assess, extend, and/or replicate the study. The results of this work and the highlighted challenges can guide researchers and practitioners from robotics and software engineering through the research landscape

Optimization-Based Methodology for the Exploration of Cyber-Physical System Architectures

In this thesis, we address the design space exploration of cyber-physical system architectures to select correct-by-construction configuration and interconnection of system components taken from pre-defined libraries. We formulate the exploration problem as a mapping problem and use optimization to solve it by searching for a minimum cost architecture that meets system requirements. Using a graph-based representation of a system architecture, we define a set of generic mixed integer linear constraints over graph vertices, edges and paths, and use these constraints to instantiate a variety of design requirements (e.g., interconnection, flow, workload, timing, reliability, routing). We implement a comprehensive toolbox that supports all steps of the proposed methodology. It provides a pattern-based formal language to facilitate requirements specification and a set of scalable algorithms for encoding and solving exploration problems. We prove our concepts on a set of case studies for different cyber-physical system domains, such as electrical power distribution networks, reconfigurable industrial production lines and wireless sensor networks

The Essence of Software Engineering

Software Engineering; Software Development; Software Processes; Software Architectures; Software Managemen

Multi-Quality Auto-Tuning by Contract Negotiation

A characteristic challenge of software development is the management of omnipresent change. Classically, this constant change is driven by customers changing their requirements. The wish to optimally leverage available resources opens another source of change: the software systems environment. Software is tailored to specific platforms (e.g., hardware architectures) resulting in many variants of the same software optimized for different environments. If the environment changes, a different variant is to be used, i.e., the system has to reconfigure to the variant optimized for the arisen situation. The automation of such adjustments is subject to the research community of self-adaptive systems. The basic principle is a control loop, as known from control theory. The system (and environment) is continuously monitored, the collected data is analyzed and decisions for or against a reconfiguration are computed and realized. Central problems in this field, which are addressed in this thesis, are the management of interdependencies between non-functional properties of the system, the handling of multiple criteria subject to decision making and the scalability. In this thesis, a novel approach to self-adaptive software--Multi-Quality Auto-Tuning (MQuAT)--is presented, which provides design and operation principles for software systems which automatically provide the best possible utility to the user while producing the least possible cost. For this purpose, a component model has been developed, enabling the software developer to design and implement self-optimizing software systems in a model-driven way. This component model allows for the specification of the structure as well as the behavior of the system and is capable of covering the runtime state of the system. The notion of quality contracts is utilized to cover the non-functional behavior and, especially, the dependencies between non-functional properties of the system. At runtime the component model covers the runtime state of the system. This runtime model is used in combination with the contracts to generate optimization problems in different formalisms (Integer Linear Programming (ILP), Pseudo-Boolean Optimization (PBO), Ant Colony Optimization (ACO) and Multi-Objective Integer Linear Programming (MOILP)). Standard solvers are applied to derive solutions to these problems, which represent reconfiguration decisions, if the identified configuration differs from the current. Each approach is empirically evaluated in terms of its scalability showing the feasibility of all approaches, except for ACO, the superiority of ILP over PBO and the limits of all approaches: 100 component types for ILP, 30 for PBO, 10 for ACO and 30 for 2-objective MOILP. In presence of more than two objective functions the MOILP approach is shown to be infeasible

Finalised dependability framework and evaluation results

The ambitious aim of CONNECT is to achieve universal interoperability between heterogeneous Networked Systems by means of on-the-fly synthesis of the CONNECTors through which they communicate. The goal of WP5 within CONNECT is to ensure that the non-functional properties required at each side of the connection going to be established are fulfilled, including dependability, performance, security and trust, or, in one overarching term, CONNECTability. To model such properties, we have introduced the CPMM meta-model which establishes the relevant concepts and their relations, and also includes a Complex Event language to express the behaviour associated with the specified properties. Along the four years of project duration, we have developed approaches for assuring CONNECTability both at synthesis time and at run-time. Within CONNECT architecture, these approaches are supported via the following enablers: the Dependability and Performance analysis Enabler, which is implemented in a modular architecture supporting stochastic verification and state-based analysis. Dependability and performance analysis also relies on approaches for incremental verification to adjust CONNECTor parameters at run-time; the Security Enabler, which implements a Security-by-Contract-with-Trust framework to guarantee the expected security policies and enforce them accordingly to the level of trust; the Trust Manager that implements a model-based approach to mediate between different trust models and ensure interoperable trust management. The enablers have been integrated within the CONNECT architecture, and in particular can interact with the CONNECT event-based monitoring enabler (GLIMPSE Enabler released within WP4) for run-time analysis and verification. To support a Model-driven approach in the interaction with the monitor, we have developed a CPMM editor and a translator from CPMM to the GLIMPSE native language (Drools). In this document that is the final deliverable from WP5 we first present the latest advances in the fourth year concerning CPMM, Dependability&Performance Analysis, Incremental Verification and Security. Then, we make an overall summary of main achievements for the whole project lifecycle. In appendix we also include some relevant articles specifically focussing on CONNECTability that have been prepared in the last period