Modeling Framework and Software Tools for Walking Robots

In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity.\ud In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals

An automated framework for software test oracle

Context: One of the important issues of software testing is to provide an automated test oracle. Test oracles are reliable sources of how the software under test must operate. In particular, they are used to evaluate the actual results that produced by the software. However, in order to generate an automated test oracle, oracle challenges need to be addressed. These challenges are output-domain generation, input domain to output domain mapping, and a comparator to decide on the accuracy of the actual outputs. Objective: This paper proposes an automated test oracle framework to address all of these challenges. Method: I/O Relationship Analysis is used to generate the output domain automatically and Multi-Networks Oracles based on artificial neural networks are introduced to handle the second challenge. The last challenge is addressed using an automated comparator that adjusts the oracle precision by defining the comparison tolerance. The proposed approach was evaluated using an industry strength case study, which was injected with some faults. The quality of the proposed oracle was measured by assessing its accuracy, precision, misclassification error and practicality. Mutation testing was considered to provide the evaluation framework by implementing two different versions of the case study: a Golden Version and a Mutated Version. Furthermore, a comparative study between the existing automated oracles and the proposed one is provided based on which challenges they can automate. Results: Results indicate that the proposed approach automated the oracle generation process 97% in this experiment. Accuracy of the proposed oracle was up to 98.26%, and the oracle detected up to 97.7% of the injected faults. Conclusion: Consequently, the results of the study highlight the practicality of the proposed oracle in addition to the automation it offers

A general software defect-proneness prediction framework

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.BACKGROUND - Predicting defect-prone software components is an economically important activity and so has received a good deal of attention. However, making sense of the many, and sometimes seemingly inconsistent, results is difficult. OBJECTIVE - We propose and evaluate a general framework for software defect prediction that supports 1) unbiased and 2) comprehensive comparison between competing prediction systems. METHOD - The framework is comprised of 1) scheme evaluation and 2) defect prediction components. The scheme evaluation analyzes the prediction performance of competing learning schemes for given historical data sets. The defect predictor builds models according to the evaluated learning scheme and predicts software defects with new data according to the constructed model. In order to demonstrate the performance of the proposed framework, we use both simulation and publicly available software defect data sets. RESULTS - The results show that we should choose different learning schemes for different data sets (i.e., no scheme dominates), that small details in conducting how evaluations are conducted can completely reverse findings, and last, that our proposed framework is more effective and less prone to bias than previous approaches. CONCLUSIONS - Failure to properly or fully evaluate a learning scheme can be misleading; however, these problems may be overcome by our proposed framework.National Natural Science Foundation of Chin

A ROOT/IO Based Software Framework for CMS

The implementation of persistency in the Compact Muon Solenoid (CMS) Software Framework uses the core I/O functionality of ROOT. We will discuss the current ROOT/IO implementation, its evolution from the prior Objectivity/DB implementation, and the plans and ongoing work for the conversion to "POOL", provided by the LHC Computing Grid (LCG) persistency project

DISTANCE: a framework for software measure construction.

In this paper we present a framework for software measurement that is specifically suited to satisfy the measurement needs of empirical software engineering research. The framework offers an approach to measurement that builds upon the easily imagined, detected and visualised concepts of similarity and dissimilarity between software entities. These concepts are used both to model the software attributes of interest and to define the corresponding software measures. Central to the framework is a process model that embeds constructive procedures for attribute modelling and measure construction into a goal-oriented approach to empirical software engineering studies. The underlying measurement theoretic principles of our approach ensure the construct validity of the resulting measures. The approach was tested on a popular suite of object-oriented design measures. We further show that our measure construction method compares favourably to related work.Software;

OSDF: A Framework For Software Defined Network Programming

Using SDN to configure and control a multi-site network involves writing code that handles low-level details. We describe preliminary work on a framework that takes a network description and set of policies as input, and handles all the details of deriving routes and installing flow rules in switches. The paper describes key software components and reports preliminary results.Comment: 4 pages, 4 figures, accepted as a work in progress paper in CCNC 201

Scenario-based software architecture for designing connectors framework in distributed system

Software connectors is one of key word in enterprise information system. In recent years, software developers have facing more challenges of connectors which are used to connect distributed components. Design of connectors in an existing system encounters many issues such as choosing the connectors based on scenario quality, matching these connectors with design pattern, and implementing them. Especially, we concentrate on identifying the attributes that interest an observer, identifying the functions where these connectors could be applied, and keeping all applications clean after adding new connectors. Each problem is described by a scenario to design architecture, especially to design a connector based on architecture attributes. In this paper, we develop a software framework to design connectors between components and solution of these issues. A case study is done to maintain high level of independency between components and to illustrate this independency. This case study uses Aspect-Oriented Programming (AOP) and AspectJ, Design Pattern to and Program Slicing to solve main problems of design of connectors. A conclusion is given at the end of this paper

A framework for the simulation of structural software evolution

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2008 ACM.As functionality is added to an aging piece of software, its original design and structure will tend to erode. This can lead to high coupling, low cohesion and other undesirable effects associated with spaghetti architectures. The underlying forces that cause such degradation have been the subject of much research. However, progress in this field is slow, as its complexity makes it difficult to isolate the causal flows leading to these effects. This is further complicated by the difficulty of generating enough empirical data, in sufficient quantity, and attributing such data to specific points in the causal chain. This article describes a framework for simulating the structural evolution of software. A complete simulation model is built by incrementally adding modules to the framework, each of which contributes an individual evolutionary effect. These effects are then combined to form a multifaceted simulation that evolves a fictitious code base in a manner approximating real-world behavior. We describe the underlying principles and structures of our framework from a theoretical and user perspective; a validation of a simple set of evolutionary parameters is then provided and three empirical software studies generated from open-source software (OSS) are used to support claims and generated results. The research illustrates how simulation can be used to investigate a complex and under-researched area of the development cycle. It also shows the value of incorporating certain human traits into a simulation—factors that, in real-world system development, can significantly influence evolutionary structures