Experiences on a motivational learning approach for robotics in undergraduate courses

This paper presents an educational experience carried out in robotics undergraduate courses from two different degrees: Computer Science and Industrial Engineering, having students with diverse capabilities and motivations. The experience compares two learning strategies for the practical lessons of such courses: one relies on code snippets in Matlab to cope with typical robotic problems like robot motion, localization, and mapping, while the second strategy opts for using the ROS framework for the development of algorithms facing a competitive challenge, e.g. exploration algorithms. The obtained students’ opinions were instructive, reporting, for example, that although they consider harder to master ROS when compared to Matlab, it might be more useful in their (robotic related) professional careers, which enhanced their disposition to study it. They also considered that the challenge-exercises, in addition to motivate them, helped to develop their skills as engineers to a greater extent than the skeleton-code based ones. These and other conclusions will be useful in posterior courses to boost the interest and motivation of the students.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

A study into the feasibility of generic programming for the construction of complex software

A high degree of abstraction and capacity for reuse can be obtained in software design through the use of Generic Programming (GP) concepts. Despite widespread use of GP in computing, some areas such as the construction of generic component libraries as the skeleton for complex computing systems with extensive domains have been neglected. Here we consider the design of a library of generic components based on the GP paradigm implemented with Java. Our aim is to investigate the feasibility of using GP paradigm in the construction of complex computer systems where the management of users interacting with the system and the optimisation of the system’s resources is required.Postprint (author's final draft

Keeping track of worm trackers

C. elegans is used extensively as a model system in the neurosciences due to its well defined nervous system. However, the seeming simplicity of this nervous system in anatomical structure and neuronal connectivity, at least compared to higher animals, underlies a rich diversity of behaviors. The usefulness of the worm in genome-wide mutagenesis or RNAi screens, where thousands of strains are assessed for phenotype, emphasizes the need for computational methods for automated parameterization of generated behaviors. In addition, behaviors can be modulated upon external cues like temperature, O2 and CO2 concentrations, mechanosensory and chemosensory inputs. Different machine vision tools have been developed to aid researchers in their efforts to inventory and characterize defined behavioral “outputs”. Here we aim at providing an overview of different worm-tracking packages or video analysis tools designed to quantify different aspects of locomotion such as the occurrence of directional changes (turns, omega bends), curvature of the sinusoidal shape (amplitude, body bend angles) and velocity (speed, backward or forward movement)

Adaptive structured parallelism for computational grids

Algorithmic skeletons abstract commonly-used patterns of parallel computation, communication, and interaction. They provide top-down design composition and control inheritance throughout the whole structure. Parallel programs are expressed by interweaving parameterised skeletons analogously to the way sequential structured programs are constructed. This design paradigm, known as structured parallelism, provides a high-level parallel programming method which allows the abstract description of programs and fosters portability. That is to say, structured parallelism requires the description of the algorithm rather than its implementation, providing a clear and consistent meaning across platforms while their associated structure depends on the particular implementation. By decoupling the structure from the meaning of a parallel program, it benefits entirely from any performance improvements in the systems infrastructure

On Designing Multicore-aware Simulators for Biological Systems

The stochastic simulation of biological systems is an increasingly popular technique in bioinformatics. It often is an enlightening technique, which may however result in being computational expensive. We discuss the main opportunities to speed it up on multi-core platforms, which pose new challenges for parallelisation techniques. These opportunities are developed in two general families of solutions involving both the single simulation and a bulk of independent simulations (either replicas of derived from parameter sweep). Proposed solutions are tested on the parallelisation of the CWC simulator (Calculus of Wrapped Compartments) that is carried out according to proposed solutions by way of the FastFlow programming framework making possible fast development and efficient execution on multi-cores.Comment: 19 pages + cover pag

Two Fundamental Concepts in Skeletal Parallel Programming

We define the concepts of nesting mode and interaction mode as they arise in the description of skeletal parallel programming systems. We sugegs

MAGDA: A Mobile Agent based Grid Architecture

Mobile agents mean both a technology and a programming paradigm. They allow for a flexible approach which can alleviate a number of issues present in distributed and Grid-based systems, by means of features such as migration, cloning, messaging and other provided mechanisms. In this paper we describe an architecture (MAGDA – Mobile Agent based Grid Architecture) we have designed and we are currently developing to support programming and execution of mobile agent based application upon Grid systems