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

Untersuchungen zur Apoptose

Programmierter Zelltod oder Apoptose ist essentiell für die Entwicklung und Homöostase mehrzelliger Organismen. Störungen in der Regulierung dieser Prozesse können zu zahlreichen Erkrankungen führen, unter anderem zu Autoimmunerkrankungen und Krebs. In den letzten Jahren konnte in zahlreichen Arbeiten gezeigt werden, daß Mitochondrien eine wichtige Rolle bei der Steuerung der Apoptoseprozesse spielen. So wird Cytochrom c, ein Protein aus dem mitochondrialen Intermembranraum, durch einen pro-apoptotischen Stimulus als ein Caspase-Aktivierungsfaktor ins Cytosol freigesetzt. In der vorliegenden Arbeit wird die initiale Charakterisierung eines neuen murinen Proteins (mDAP-3) beschrieben. mDAP-3 wurde identifiziert bei dem Versuch molekulare Marker der Nierenentwicklung mit Hilfe einer modifizierten „differential display“ Polymerase Kettenreaktion zu finden. Die 1,7 kb große mDAP-3 mRNA kodiert für ein ca. 45 kDa großes Protein, das als funktionelles Motiv eine ATP/GTP-Bindungsstelle (P-Loop) besitzt. Die Analyse der Aminosäurensequenz von mDAP-3 ergab eine 81 %ige Identität zu dem humanen DAP-3 (Death Associated Protein 3), einem positiven Apoptose Mediator. Northern-Blot-Analyse von 20 µg Gesamt-RNA aus 11 Organen adulter Mäuse zeigte eine abundante mDAP-3 Expression in Niere, Herz, Leber, Thymus, Muskel, Milz, Darm und Bauch, mit einem Expressionsmaximum in Testis. Eine geringe bis fast fehlende Expression konnte in der Lunge und im Ovar gezeigt werden. Die Überexpression eines mDAP-3/EGFP Fusionproteins in murinen Mesangialzellen (MMC) führte zu einer Apoptoseinduktion bei 27,6% ± 2,6% (n=3) der Zellen gegenüber einer Apoptose Inzidenz von 11,9% ± 2,8% bei MMCs die mit einem Kontrollvektor transfiziert wurden. Die pro-apoptotische Funktion von mDAP-3 ist dabei abhängig von der Funktionalität des P-Loops. Die Überexpression eines P-Loop mutierten mDAP-3/EGFP Fusionproteins führte zu keiner Apoptoseinduktion. Sowohl das murine als auch das humane DAP-3 bleiben während der Apoptose intra-mitochondrial und werden nicht in das Cytosol freigesetzt. Für die Untersuchung der intrazellulären Lokalisation von mDAP-3 wurde ebenfalls das mDAP-3/EGFP-Fusionsprotein verwendet. Murine-Tubuluszellen (MTC) zeigten nach Transfektion mit dem Fusionsprotein ein punktiertes Signal im Fluoreszenz-Mikroskop. Im Gegensatz dazu zeigten Zellen nach Transfektion mit dem EGFP-Expressionsvektor alleine das für EGFP typische diffuse, zytosolische Fluoreszenzsignal. Sowohl im Fluoreszenz-Mikroskop als auch im konfokalen Laser-Scann-Mikroskop lokalisierte mDAP-3/EGFP zusammen mit einem mitochondrialen Farbstoff, jedoch nicht mit einem lysosomalen. Diese Ergebnisse weisen auf eine mitochondriale Lokalisation von mDAP-3 hin. Zellfraktionierungen bestätigten die mitochondriale Lokalisation von mDAP-3. Das endogene mDAP-3 Protein konnte nur in der mitochondrialen Fraktion, nicht jedoch in der endoplasmatischen Reticulum- oder der zytosolischen-Fraktion, nachgewiesen werden. Proteinase-K-Behandlung isolierter Mitochondrien führte zu keiner Reduktion der mDAP-3 Proteinmenge im Western-Blot. Dies ließ auf eine intra-mitochondriale Lokalisation von mDAP-3 schließen. Digitonin-Behandlung isolierter Mitochondrien zeigte eine Freisetzung von mDAP-3 aus den Mitochondrien bei relativ hohen Digitonin Konzentrationen (0,3%). Ganz im Gegensatz dazu wurde Cytochrom c bereits bei 0,075% Digitonin freigesetzt. Diese Daten weisen auf eine mDAP-3 Lokalisation in der mitochondrialen Matrix hin. Da die DAP-3 Proteinfamilie in Eukaryonten sehr konserviert ist und auch in nichtapoptotischen Organismen wie S. cerevisiae vertreten ist, muß DAP-3 eine weitere Funktion neben der pro-apoptotischen besitzen. Um die Rolle von DAP-3 näher zu definieren wurde eine Disruption des mDAP-3 Hefe-Orthologs YGL129c (yDAP-3) durchgeführt. Die yDAP-3 Nullmutanten zeigten keinen Wachstumsverlust auf nicht fermentierbaren Kohlenstoffquellen wie Glycerol oder Lactat. Dies deutet darauf hin, daß yDAP-3 für die mitochondriale Atmung nicht zwingend notwendig ist. Allerdings zeigten Hefen bei einer yDAP-3 Disruption einen signifikanten und progressiven Verlust ihrer mitochondrialen DNA (mtDNA) (46% in ∆yDAP-3 vs. 3% im Wildtyp). Dieser Verlust der mtDNA, der auf eine Funktion von yDAP- 3 für die mitochondriale Biogenese hinweist, ließ sich durch eine Transfektion der ∆yDAP-3 Hefen mit dem murinen DAP-3 teilweise verhindern. Damit konnte bewiesen werden, daß die Funktion, die DAP-3 für die Biogenese der Mitochondrien ausübt, unter Eukaryonten konserviert ist. Diese Daten identifizieren mDAP-3 als einen der ersten pro-apoptotischen Faktoren der mitochondrialen Matrix. Weiterhin kann eine duale Funktion für die Mitglieder der DAP-3 Proteinfamilie postuliert werden. Zum Einen spielen sie eine wichtige, evolutionär konservierte Rolle für die Biogenese von Mitochondrien, zum Anderen besitzen sie in mehrzelligen Organismen eine zusätzliche pro-apoptotische Funktion

A survey on the design space of end-user-oriented languages for specifying robotic missions

Mobile robots are becoming increasingly important in society. Fulfilling complex missions in different contexts and environments,robots are promising instruments to support our everyday live. As such, the task of defining the robot’s missionis moving from professional developers and roboticists to the end-users. However, with the current state-of-the-art, definingmissions is non-trivial and typically requires dedicated programming skills. Since end-users usually lack such skills, manycommercial robots are nowadays equipped with environments and domain-specific languages tailored for end-users. As such,the software support for defining missions is becoming an increasingly relevant criterion when buying or choosing robots.Improving these environments and languages for specifying missions toward simplicity and flexibility is crucial. To this end,we need to improve our empirical understanding of the current state-of-the-art of such languages and their environments. Inthis paper, we contribute in this direction. We present a survey of 30 mission specification environments for mobile robots thatcome with a visual and end-user-oriented language. We explore the design space of these languages and their environments,identify their concepts, and organize them as features in a feature model. We believe that our results are valuable to practitionersand researchers designing the next generation of mission specification languages in the vibrant domain of mobilerobots

Reuse and maintenance practices among divergent forks in three software ecosystems

With the rise of social coding platforms that rely on distributed version control systems, software reuse is also on the rise. Many software developers leverage this reuse by creating variants through forking, to account for different customer needs, markets, or environments. Forked variants then form a so-called software family; they share a common code base and are maintained in parallel by same or different developers. As such, software families can easily arise within software ecosystems, which are large collections of interdependent software components maintained by communities of collaborating contributors. However, little is known about the existence and characteristics of such families within ecosystems, especially about their maintenance practices. Improving our empirical understanding of such families will help build better tools for maintaining and evolving such families. We empirically explore maintenance practices in such fork-based software families within ecosystems of open-source software. Our focus is on three of the largest software ecosystems existence today: Android,.NET, and JavaScript. We identify and analyze software families that are maintained together and that exist both on the official distribution platform (Google play, nuget, and npm) as well as on GitHub , allowing us to analyze reuse practices in depth. We mine and identify 38 software families, 526 software families, and 8,837 software families from the ecosystems of Android,.NET, and JavaScript, to study their characteristics and code-propagation practices. We provide scripts for analyzing code integration within our families. Interestingly, our results show that there is little code integration across the studied software families from the three ecosystems. Our studied families also show that techniques of direct integration using git outside of GitHub is more commonly used than GitHub pull requests. Overall, we hope to raise awareness about the existence of software families within larger ecosystems of software, calling for further research and better tools support to effectively maintain and evolve them

Effects of variability in models: a family of experiments

The ever-growing need for customization creates a need to maintain software systems in many different variants. To avoid having to maintain different copies of the same model, developers of modeling languages and tools have recently started to provide implementation techniques for such variant-rich systems, notably variability mechanisms, which support implementing the differences between model variants. Available mechanisms either follow the annotative or the compositional paradigm, each of which have dedicated benefits and drawbacks. Currently, language and tool designers select the used variability mechanism often solely based on intuition. A better empirical understanding of the comprehension of variability mechanisms would help them in improving support for effective modeling. In this article, we present an empirical assessment of annotative and compositional variability mechanisms for three popular types of models. We report and discuss findings from a family of three experiments with 164 participants in total, in which we studied the impact of different variability mechanisms during model comprehension tasks. We experimented with three model types commonly found in modeling languages: class diagrams, state machine diagrams, and activity diagrams. We find that, in two out of three experiments, annotative technique lead to better developer performance. Use of the compositional mechanism correlated with impaired performance. For all three considered tasks, the annotative mechanism was preferred over the compositional one in all experiments. We present actionable recommendations concerning support of flexible, tasks-specific solutions, and the transfer of established best practices from the code domain to models

Wissen ordnen und entgrenzen – vom analogen zum digitalen Europa?

The edited volume "Ordering and delimiting knowledge – from analogue to digital Europe?" asks how knowledge orders confirm, reinforce, question or create new social differentiations, and to what extent the digital transformation changes such differentiation processes gradually or in principle. Knowledge orders are understood here as intentionally construed and medially mediated orders that delimit, systematise, classify and categorise bodies of knowledge. The contributions to this edit-ed volume examine the emergence, establishment and contestation of such knowledge orders on three levels: their practical social relevance, their European dimension, and their transformation through digital representation

Open charm yields in d+Au collisions at sqrt[sNN]=200 GeV

Midrapidity open charm spectra from direct reconstruction of D0(D0-bar)-->K± pi ± in d+Au collisions and indirect electron-positron measurements via charm semileptonic decays in p+p and d+Au collisions at sqrt[sNN]=200 GeV are reported. The D0(D0-bar) spectrum covers a transverse momentum (pT) range of 0.1<pT<3 GeV/c, whereas the electron spectra cover a range of 1<pT<4 GeV/c. The electron spectra show approximate binary collision scaling between p+p and d+Au collisions. From these two independent analyses, the differential cross section per nucleon-nucleon binary interaction at midrapidity for open charm production from d+Au collisions at BNL RHIC is d sigma NNcc-bar/dy=0.30±0.04(stat)±0.09(syst) mb. The results are compared to theoretical calculations. Implications for charmonium results in A+A collisions are discussed

Intention-Based Integration of Software Variants

Cloning is a simple way to create new variants of a system. While cheap at first, it increases maintenance cost in the long term. Eventually, the cloned variants need to be integrated into a configurable platform. Such an integration is challenging: it involves merging the usual code improvements between the variants, and also integrating the variable code (features) into the platform. Thus, variant integration differs from traditional soft- ware merging, which does not produce or organize configurable code, but creates a single system that cannot be configured into variants. In practice, variant integration requires fine-grained code edits, performed in an exploratory manner, in multiple iterations. Unfortunately, little tool support exists for integrating cloned variants. In this work, we show that fine-grained code edits needed for integration can be alleviated by a small set of integration intentions-domain-specific actions declared over code snippets controlling the integration. Developers can interactively explore the integration space by declaring (or revoking) intentions on code elements. We contribute the intentions (e.g., \u27keep functionality\u27 or \u27keep as a configurable feature\u27) and the IDE tool INCLINE, which implements the intentions and five editable views that visualize the integration process and allow declaring intentions producing a configurable integrated platform. In a series of experiments, we evaluated the completeness of the pro- posed intentions, the correctness and performance of INCLINE, and the benefits of using intentions for variant integration. The experiments show that INCLINE can handle complex integration tasks, that views help to navigate the code, and that it consistently reduces mistakes made by developers during variant integration

Measurements of transverse energy distributions in Au+Au collisions at sqrt [sNN ]=200 GeV

Transverse energy ( ET ) distributions have been measured for Au+Au collisions at sqrt[sNN ]=200 GeV by the STAR Collaboration at RHIC. ET is constructed from its hadronic and electromagnetic components, which have been measured separately. ET production for the most central collisions is well described by several theoretical models whose common feature is large energy density achieved early in the fireball evolution. The magnitude and centrality dependence of ET per charged particle agrees well with measurements at lower collision energy, indicating that the growth in ET for larger collision energy results from the growth in particle production. The electromagnetic fraction of the total ET is consistent with a final state dominated by mesons and independent of centrality