Developing a Generic Debugger for Advanced-Dispatching Languages

Programming-language research has introduced a considerable number of advanced-dispatching mechanisms in order to improve modularity. Advanced-dispatching mechanisms allow changing the behavior of a function without modifying their call sites and thus make the local behavior of code less comprehensible. Debuggers are tools, thus needed, which can help a developer to comprehend program behavior but current debuggers do not provide inspection of advanced-\ud dispatching-related language constructs. In this paper, we present a debugger which extends a traditional Java debugger with the ability of debugging an advanced-dispatching language constructs and a user interface for inspecting this

Test-driven Language Derivation with Graph Transformation-Based Dynamic Meta Modeling

Deriving a new language L_B from an already existing one L_A is a typical task in domain-specific language engineering. Here, besides adjusting L_A's syntax, the language engineer has to modify the semantics of L_A to derive L_B's semantics. Particularly, in case of behavioral modeling languages, this is a difficult and error-prone task, as changing the behavior of language elements or adding behavior for new elements might have undesired side effects. Therefore, we propose a test-driven language derivation process. In a first step, the language engineer creates example models containing the changed or newly added elements in different contexts. For each of these models, the language engineer also precisely describes the expected behavior. In a second step, each example model and its description of behavior is transformed into an executable test case. Finally, these test cases are used when deriving the actual semantics of L_B - at any time, the language engineer can run the tests to verify whether the changes he performed on L_A's semantics indeed produce the desired behavior. In this paper, we illustrate the approach using our graph transformation-based semantics specification technique Dynamic Meta Modeling. This is once more an example where the graph transformation approach shows its strengths and appropriateness to support software engineering tasks as, e.g., model transformations, software specifications, or tool development

Modular DSLs for flexible analysis: An e-Motions reimplementation of Palladio

We address some of the limitations for extending and validating MDE-based implementations of NFP analysis tools by presenting a modular, model-based partial reimplementation of one well-known analysis framework, namely the Palladio Architecture Simulator. We specify the key DSLs from Palladio in the e-Motions system, describing the basic simulation semantics as a set of graph transformation rules. Di erent properties to be analysed are then encoded as separate, parametrised DSLs, independent of the de nition of Palladio. These can then be composed with the base Palladio DSL to generate speci c simulation environments. Models created in the Palladio IDE can be fed directly into this simulation environment for analysis. We demonstrate two main benefits of our approach: 1) The semantics of the simulation and the nonfunctional properties to be analysed are made explicit in the respective DSL speci cations, and 2) because of the compositional de nition, we can add de nitions of new non-functional properties and their analyses.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Specification Patterns for Robotic Missions

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots

MROS: Runtime Adaptation For Robot Control Architectures

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with contingencies arising from dynamic environments-otherwise, these affect the reliability and quality of the mission execution. Existing proposals on how to build self-adaptive systems in robotics usually require a major re-design of the control architecture and rely on complex tools unfamiliar to the robotics community. Moreover, they are hard to reuse across applications. This paper presents MROS: a model-based framework for run-time adaptation of robot control architectures based on ROS. MROS uses a combination of domain-specific languages to model architectural variants and captures mission quality concerns, and an ontology-based implementation of the MAPE-K and meta-control visions for run-time adaptation. The experiment results obtained applying MROS in two realistic ROS-based robotic demonstrators show the benefits of our approach in terms of the quality of the mission execution, and MROS' extensibility and re-usability across robotic applications

Programming Robots for Activities of Everyday Life

Text-based programming remains a challenge to novice programmers in\ua0all programming domains including robotics. The use of robots is gainingconsiderable traction in several domains since robots are capable of assisting\ua0humans in repetitive and hazardous tasks. In the near future, robots willbe used in tasks of everyday life in homes, hotels, airports, museums, etc.\ua0However, robotic missions have been either predefined or programmed usinglow-level APIs, making mission specification task-specific and error-prone.\ua0To harness the full potential of robots, it must be possible to define missionsfor specific applications domains as needed. The specification of missions of\ua0robotic applications should be performed via easy-to-use, accessible ways, and\ua0at the same time, be accurate, and unambiguous. Simplicity and flexibility in\ua0programming such robots are important, since end-users come from diverse\ua0domains, not necessarily with suffcient programming knowledge.The main objective of this licentiate thesis is to empirically understand the\ua0state-of-the-art in languages and tools used for specifying robot missions byend-users. The findings will form the basis for interventions in developing\ua0future languages for end-user robot programming.During the empirical study, DSLs for robot mission specification were\ua0analyzed through published literature, their websites, user manuals, samplemissions and using the languages to specify missions for supported robots.After extracting data from 30 environments, 133 features were identified.\ua0A feature matrix mapping the features to the environments was developedwith a feature model for robotic mission specification DSLs.Our results show that most end-user facing environments exist in the\ua0education domain for teaching novice programmers and STEM subjects. Mostof the visual languages are developed using Blockly and Scratch libraries.\ua0The end-user domain abstraction needs more work since most of the visualenvironments abstract robotic and programming language concepts but not\ua0end-user concepts. In future works, it is important to focus on the development\ua0of reusable libraries for end-user concepts; and further, explore how end-user\ua0facing environments can be adapted for novice programmers to learn\ua0general programming skills and robot programming in low resource settings\ua0in developing countries, like Uganda

A Framework for Model-Driven Scientific Workflow Engineering

So-called scientific workflows are one important means in the context of data-intensive science for reliable and efficient scientific data processing in distributed computing infrastructures such as Grids. Scientific Workflow Management Systems (SWfMS) help scientists model and run scientific workflows, whereas a domain-specific layer for workflow modeling by a scientist and a technical layer for automated workflow execution can be distinguished. Initially, many SWfMS were developed from scratch using custom workflow technologies languages without application of already existing and established business workflow technologies. Among the reasons were different life cycles for scientific and business workflows as well as incompatible interfaces and communication protocols of the respective execution infrastructures. Meanwhile, several business IT infrastructures have evolved to serviceoriented architectures (SOAs), for which many Web service standards and technologies have been developed. The Web Services Business Process Execution Language (BPEL), for example, is a well-accepted standard for the implementation and execution of business workflows in SOAs. The SOA architecture pattern has been adopted in scientific IT infrastructures by so-called Service Grids based on existing standards and technologies. Due to this development, BPEL is also suitable for the execution of scientific workflows at the technical layer, which has been elaborated on in many publications and projects. However, BPEL is a workflow language for IT experts and is originally not suited for scientific workflow modeling by a scientist at the domain-specific layer. A domain-specific abstraction of BPEL is therefore required that can be specifically tailored for scientific workflow modeling as well as a corresponding mapping to the technical layer. These challenges of the domain-specific abstraction and the mapping are addressed in this thesis with the help of the Business Process Model and Notation (BPMN) standard and technologies from Model-Driven Software Development (MDSD). Therefore, the MoDFlow approach for Model-Driven Scientific WorkFlow Engineering is presented to map domain-specific scientific workflow models via a BPMN-based intermediate layer to an executable workflow model. The intermediate layer is specified by MoDFlow.BPMN, which is a BPMN metamodel subset with custom extensions for the scientific domain. MoDFlow.BPMN2BPEL defines three consecutive transformation steps to map MoDFlow.BPMN to BPEL for workflow execution. Furthermore, different methods to utilize and extend MoDFlow.BPMN and MoDFlow.BPMN2BPEL are described in the MoDFlow approach, in which the definition of so-called domain-specific languages (DSLs) for the modeling of scientific workflows at the domain-specific layer is focused. The MoDFlow framework is an implementation of the MoDFlow approach, which is based on the Eclipse Modeling Framework (EMF). The MoDFlow framework is evaluated in three application scenarios, in which different utilization and extension mechanisms are examined. The first two application scenarios investigate the technical feasibility of the approach and support scientific workflows with parameter sweeps that are executed on a Grid infrastructure. The third application scenario has been conducted in collaboration with the PubFlow project, which aims to create an infrastructure to model and execute data publication workflows. Based on the Xtext framework, a textual DSL and a corresponding language infrastructure is defined for this purpose that supports developers in creating data publication workflows. This scenario aims to illustrate the practicability of the MoDFlow framework. PubFlow currently plans to implement an additional graphical DSL based on the BPMN notation and a corresponding workflow editor for scientists

HybridMDSD: Multi-Domain Engineering with Model-Driven Software Development using Ontological Foundations

Software development is a complex task. Executable applications comprise a mutlitude of diverse components that are developed with various frameworks, libraries, or communication platforms. The technical complexity in development retains resources, hampers efficient problem solving, and thus increases the overall cost of software production. Another significant challenge in market-driven software engineering is the variety of customer needs. It necessitates a maximum of flexibility in software implementations to facilitate the deployment of different products that are based on one single core. To reduce technical complexity, the paradigm of Model-Driven Software Development (MDSD) facilitates the abstract specification of software based on modeling languages. Corresponding models are used to generate actual programming code without the need for creating manually written, error-prone assets. Modeling languages that are tailored towards a particular domain are called domain-specific languages (DSLs). Domain-specific modeling (DSM) approximates technical solutions with intentional problems and fosters the unfolding of specialized expertise. To cope with feature diversity in applications, the Software Product Line Engineering (SPLE) community provides means for the management of variability in software products, such as feature models and appropriate tools for mapping features to implementation assets. Model-driven development, domain-specific modeling, and the dedicated management of variability in SPLE are vital for the success of software enterprises. Yet, these paradigms exist in isolation and need to be integrated in order to exhaust the advantages of every single approach. In this thesis, we propose a way to do so. We introduce the paradigm of Multi-Domain Engineering (MDE) which means model-driven development with multiple domain-specific languages in variability-intensive scenarios. MDE strongly emphasize the advantages of MDSD with multiple DSLs as a neccessity for efficiency in software development and treats the paradigm of SPLE as indispensable means to achieve a maximum degree of reuse and flexibility. We present HybridMDSD as our solution approach to implement the MDE paradigm. The core idea of HybidMDSD is to capture the semantics of particular DSLs based on properly defined semantics for software models contained in a central upper ontology. Then, the resulting semantic foundation can be used to establish references between arbitrary domain-specific models (DSMs) and sophisticated instance level reasoning ensures integrity and allows to handle partiucular change adaptation scenarios. Moreover, we present an approach to automatically generate composition code that integrates generated assets from separate DSLs. All necessary development tasks are arranged in a comprehensive development process. Finally, we validate the introduced approach with a profound prototypical implementation and an industrial-scale case study.Softwareentwicklung ist komplex: ausführbare Anwendungen beinhalten und vereinen eine Vielzahl an Komponenten, die mit unterschiedlichen Frameworks, Bibliotheken oder Kommunikationsplattformen entwickelt werden. Die technische Komplexität in der Entwicklung bindet Ressourcen, verhindert effiziente Problemlösung und führt zu insgesamt hohen Kosten bei der Produktion von Software. Zusätzliche Herausforderungen entstehen durch die Vielfalt und Unterschiedlichkeit an Kundenwünschen, die der Entwicklung ein hohes Maß an Flexibilität in Software-Implementierungen abverlangen und die Auslieferung verschiedener Produkte auf Grundlage einer Basis-Implementierung nötig machen. Zur Reduktion der technischen Komplexität bietet sich das Paradigma der modellgetriebenen Softwareentwicklung (MDSD) an. Software-Spezifikationen in Form abstrakter Modelle werden hier verwendet um Programmcode zu generieren, was die fehleranfällige, manuelle Programmierung ähnlicher Komponenten überflüssig macht. Modellierungssprachen, die auf eine bestimmte Problemdomäne zugeschnitten sind, nennt man domänenspezifische Sprachen (DSLs). Domänenspezifische Modellierung (DSM) vereint technische Lösungen mit intentionalen Problemen und ermöglicht die Entfaltung spezialisierter Expertise. Um der Funktionsvielfalt in Software Herr zu werden, bietet der Forschungszweig der Softwareproduktlinienentwicklung (SPLE) verschiedene Mittel zur Verwaltung von Variabilität in Software-Produkten an. Hierzu zählen Feature-Modelle sowie passende Werkzeuge, um Features auf Implementierungsbestandteile abzubilden. Modellgetriebene Entwicklung, domänenspezifische Modellierung und eine spezielle Handhabung von Variabilität in Softwareproduktlinien sind von entscheidender Bedeutung für den Erfolg von Softwarefirmen. Zur Zeit bestehen diese Paradigmen losgelöst voneinander und müssen integriert werden, damit die Vorteile jedes einzelnen für die Gesamtheit der Softwareentwicklung entfaltet werden können. In dieser Arbeit wird ein Ansatz vorgestellt, der dies ermöglicht. Es wird das Multi-Domain Engineering Paradigma (MDE) eingeführt, welches die modellgetriebene Softwareentwicklung mit mehreren domänenspezifischen Sprachen in variabilitätszentrierten Szenarien beschreibt. MDE stellt die Vorteile modellgetriebener Entwicklung mit mehreren DSLs als eine Notwendigkeit für Effizienz in der Entwicklung heraus und betrachtet das SPLE-Paradigma als unabdingbares Mittel um ein Maximum an Wiederverwendbarkeit und Flexibilität zu erzielen. In der Arbeit wird ein Ansatz zur Implementierung des MDE-Paradigmas, mit dem Namen HybridMDSD, vorgestellt