Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study

Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users

Pattern Reification as the Basis for Description-Driven Systems

One of the main factors driving object-oriented software development for information systems is the requirement for systems to be tolerant to change. To address this issue in designing systems, this paper proposes a pattern-based, object-oriented, description-driven system (DDS) architecture as an extension to the standard UML four-layer meta-model. A DDS architecture is proposed in which aspects of both static and dynamic systems behavior can be captured via descriptive models and meta-models. The proposed architecture embodies four main elements - firstly, the adoption of a multi-layered meta-modeling architecture and reflective meta-level architecture, secondly the identification of four data modeling relationships that can be made explicit such that they can be modified dynamically, thirdly the identification of five design patterns which have emerged from practice and have proved essential in providing reusable building blocks for data management, and fourthly the encoding of the structural properties of the five design patterns by means of one fundamental pattern, the Graph pattern. A practical example of this philosophy, the CRISTAL project, is used to demonstrate the use of description-driven data objects to handle system evolution.Comment: 20 pages, 10 figure

Distributed intelligent control and management (DICAM) applications and support for semi-automated development

We have recently begun a 4-year effort to develop a new technology foundation and associated methodology for the rapid development of high-performance intelligent controllers. Our objective in this work is to enable system developers to create effective real-time systems for control of multiple, coordinated entities in much less time than is currently required. Our technical strategy for achieving this objective is like that in other domain-specific software efforts: analyze the domain and task underlying effective performance, construct parametric or model-based generic components and overall solutions to the task, and provide excellent means for specifying, selecting, tailoring or automatically generating the solution elements particularly appropriate for the problem at hand. In this paper, we first present our specific domain focus, briefly describe the methodology and environment we are developing to provide a more regular approach to software development, and then later describe the issues this raises for the research community and this specific workshop

WeaFQAs: A Software Product Line Approach for Customizing and Weaving Efficient Functional Quality Attributes

Fecha de Lectura de Tesis: 10 de julio de 2018Los atributos de calidad funcionales (FQA) son aquellos que tienen una clara implicación en la funcionalidad del sistema, es decir, existen unos componentes específicos que deben ser incorporados a la arquitectura software del sistema para satisfacer sus requisitos de atributos de calidad. Ejemplos de FQAs son seguridad, usabilidad, o persistencia. Modelar estos atributos es una tarea compleja. Por un lado, se componen de muchas características relacionadas, por ejemplo seguridad está compuesto, entre otros, por autenticación, confidencialidad y encriptación. Tienen dependencias entre ellos, por ejemplo, seguridad puede ser requerido por usabilidad o persistencia. Por otro lado, tienen muchos puntos de variabilidad: una aplicación concreta puede requerir autenticación y control de acceso mientras que otra puede necesitar sólo encriptación. Además, su funcionalidad suele estar dispersa afectando a varios componentes del sistema en desarrollo. El objetivo de esta tesis es definir una línea de productos software orientada a aspectos que permita: (1) modelar las similitudes y la variabilidad de los FQAs desde las primeras etapas del proceso de desarrollo, (2) gestionar las dependencias existentes entre los FQAs, (3) independizar el modelado de los FQAs de la arquitectura de la aplicación afectada, (4) configurar los FQAs en base a los requisitos de cada aplicación teniendo además en cuenta propiedades no funcionales como el rendimiento y el consumo energético de cada solución, (5) incorporar las configuraciones a la arquitectura de la aplicación de manera automática; y (6) gestionar la evolución de los FQAs cuando los requisitos cambien en el futuro. Como resultado se ha definido WeaFQAs, un proceso software para gestionar los FQAs que cubre todos los puntos mencionados. Se han realizado y comparado dos instanciaciones de WeaFQAs usando diferentes lenguajes de variabilidad y de modelado, además de proporcionar soporte con una herramienta basada en el lenguaje CVL

A Brief Survey on Product Derivation Methods in Software Product Line

Product Derivation represents one of the main challenges that a Software Product Line (SPL) faces. Deriving individual products from shared software assets is a time-consuming and an expensive activity. Until now, only few works addressed, in a limited context, a partial evaluation of a reduced number of proposed derivation approaches. The main objective of such studies was the comparison of a proposed approach regarding two or three approaches. The purpose of the study reported in this paper is to set up a framework oriented to evaluate and compare existing SPL derivation approaches. The proposed framework uses a number of criteria which help understanding the capabilities and highlight the strength and the weakness of each SPL derivation approach

A Process Framework for Semantics-aware Tourism Information Systems

The growing sophistication of user requirements in tourism due to the advent of new technologies such as the Semantic Web and mobile computing has imposed new possibilities for improved intelligence in Tourism Information Systems (TIS). Traditional software engineering and web engineering approaches cannot suffice, hence the need to find new product development approaches that would sufficiently enable the next generation of TIS. The next generation of TIS are expected among other things to: enable semantics-based information processing, exhibit natural language capabilities, facilitate inter-organization exchange of information in a seamless way, and evolve proactively in tandem with dynamic user requirements. In this paper, a product development approach called Product Line for Ontology-based Semantics-Aware Tourism Information Systems (PLOSATIS) which is a novel hybridization of software product line engineering, and Semantic Web engineering concepts is proposed. PLOSATIS is presented as potentially effective, predictable and amenable to software process improvement initiatives

Applying Software Product Lines to Build Autonomic Pervasive Systems

In this Master Thesis, we have proposed a model-driven Software Product Line (SPL) for developing autonomic pervasive systems. The work focusses on reusing the Variability knowledge from the SPL design to the SPL products. This Variability knowledge enables SPL products to deal with adaptation scenarios (evolution and involution) in an autonomic way.Cetina Englada, C. (2008). Applying Software Product Lines to Build Autonomic Pervasive Systems. http://hdl.handle.net/10251/12447Archivo delegad

Towards Transparent, Reusable, and Customizable Data Science in Computational Notebooks

Data science workflows are human-centered processes involving on-demand programming and analysis. While programmable and interactive interfaces such as widgets embedded within computational notebooks are suitable for these workflows, they lack robust state management capabilities and do not support user-defined customization of the interactive components. The absence of such capabilities hinders workflow reusability and transparency while limiting the scope of exploration of the end-users. In response, we developed MAGNETON, a framework for authoring interactive widgets within computational notebooks that enables transparent, reusable, and customizable data science workflows. The framework enhances existing widgets to support fine-grained interaction history management, reusable states, and user-defined customizations. We conducted three case studies in a real-world knowledge graph construction and serving platform to evaluate the effectiveness of these widgets. Based on the observations, we discuss future implications of employing MAGNETON widgets for general-purpose data science workflows.Comment: To appear at Extended Abstracts of the 2023 CHI Conference on Human Factors in Computing System

Enabling Semantic Interoperability in e-Government: A System-based Methodological Framework for XML Schema Management at National Level

Articulating semantic interoperability in e-Government remains in question as long as the international standardization efforts do not reach a consensus on how to semantically annotate and exchange data, but merely focus on the syntactic aspects by publishing sets of XML Schemas. As one-stop governmental services at national and cross-county level become an imperative, the need for standardized data definitions, codification of existing unstructured information and a framework for managing governmental data in a unified way emerges. Effectively applied to the Greek e-Government National Interoperability Framework, this paper proposes a methodology for designing semantically enriched XML Schemas with which homogenized governmental information complies, based on the UN/CEFACT Core Components Technical Specification (CCTS). A discussion around a prospective architecture for managing large sets of XML Schemas is also motivated in order to recognize the necessary components and the key issues that need to be tackled when designing a Governmental Schema Registry