168,022 research outputs found
Generic Model Refactorings
Many modeling languages share some common concepts and principles. For example, Java, MOF, and UML share some aspects of the concepts\ud
of classes, methods, attributes, and inheritance. However, model\ud
transformations such as refactorings specified for a given language\ud
cannot be readily reused for another language because their related\ud
metamodels may be structurally different. Our aim is to enable a\ud
flexible reuse of model transformations across various metamodels.\ud
Thus, in this paper, we present an approach allowing the specification\ud
of generic model transformations, in particular refactorings, so\ud
that they can be applied to different metamodels. Our approach relies\ud
on two mechanisms: (1) an adaptation based mainly on the weaving\ud
of aspects; (2) the notion of model typing, an extension of object\ud
typing in the model-oriented context. We validated our approach by\ud
performing some experiments that consisted of specifying three well\ud
known refactorings (Encapsulate Field, Move Method, and Pull Up Method)\ud
and applying each of them onto three different metamodels (Java,\ud
MOF, and UML)
Early aspects: aspect-oriented requirements engineering and architecture design
This paper reports on the third Early Aspects: Aspect-Oriented Requirements Engineering and Architecture Design Workshop, which has been held in Lancaster, UK, on March 21, 2004. The workshop included a presentation session and working sessions in which the particular topics on early aspects were discussed. The primary goal of the workshop was to focus on challenges to defining methodical software development processes for aspects from early on in the software life cycle and explore the potential of proposed methods and techniques to scale up to industrial applications
Composition and Self-Adaptation of Service-Based Systems with Feature Models
The adoption of mechanisms for reusing software in pervasive systems has not yet become standard practice. This is because the use of pre-existing software requires the selection, composition and adaptation of prefabricated software parts, as well as the management of some complex problems such as guaranteeing high levels of efficiency and safety in critical domains. In addition to the wide variety of services, pervasive systems are composed of many networked heterogeneous devices with embedded software. In this work, we promote the safe reuse of services in service-based systems using two complementary technologies, Service-Oriented Architecture and Software Product Lines. In order to do this, we extend both the service discovery and composition processes defined in the DAMASCo framework, which currently does not deal with the service variability that constitutes pervasive systems. We use feature models to represent the variability and to self-adapt the services during the composition in a safe way taking context changes into consideration. We illustrate our proposal with a case study related to the driving domain of an Intelligent Transportation System, handling the context information of the environment.Work partially supported by the projects TIN2008-05932,
TIN2008-01942, TIN2012-35669, TIN2012-34840 and CSD2007-0004 funded by
Spanish Ministry of Economy and Competitiveness and FEDER; P09-TIC-05231 and
P11-TIC-7659 funded by Andalusian Government; and FP7-317731 funded by EU. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec
Adapting robot task planning to user preferences: an assistive shoe dressing example
The final publication is available at link.springer.comHealthcare robots will be the next big advance in humans’ domestic welfare, with robots able to assist elderly people and users with disabilities. However, each user has his/her own preferences, needs and abilities. Therefore, robotic assistants will need to adapt to them, behaving accordingly. Towards this goal, we propose a method to perform behavior adaptation to the user preferences, using symbolic task planning. A user model is built from the user’s answers to simple questions with a fuzzy inference system, and it is then integrated into the planning domain. We describe an adaptation method based on both the user satisfaction and the execution outcome, depending on which penalizations are applied to the planner’s rules. We demonstrate the application of the adaptation method in a simple shoe-fitting scenario, with experiments performed in a simulated user environment. The results show quick behavior adaptation, even when the user behavior changes, as well as robustness to wrong inference of the initial user model. Finally, some insights in a non-simulated world shoe-fitting setup are also provided.Peer ReviewedPostprint (author's final draft
Data-driven Economic NMPC using Reinforcement Learning
Reinforcement Learning (RL) is a powerful tool to perform data-driven optimal
control without relying on a model of the system. However, RL struggles to
provide hard guarantees on the behavior of the resulting control scheme. In
contrast, Nonlinear Model Predictive Control (NMPC) and Economic NMPC (ENMPC)
are standard tools for the closed-loop optimal control of complex systems with
constraints and limitations, and benefit from a rich theory to assess their
closed-loop behavior. Unfortunately, the performance of (E)NMPC hinges on the
quality of the model underlying the control scheme. In this paper, we show that
an (E)NMPC scheme can be tuned to deliver the optimal policy of the real system
even when using a wrong model. This result also holds for real systems having
stochastic dynamics. This entails that ENMPC can be used as a new type of
function approximator within RL. Furthermore, we investigate our results in the
context of ENMPC and formally connect them to the concept of dissipativity,
which is central for the ENMPC stability. Finally, we detail how these results
can be used to deploy classic RL tools for tuning (E)NMPC schemes. We apply
these tools on both a classical linear MPC setting and a standard nonlinear
example from the ENMPC literature
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