A Review of integrity constraint maintenance and view updating techniques

Two interrelated problems may arise when updating a database. On one hand, when an update is applied to the database, integrity constraints may become violated. In such case, the integrity constraint maintenance approach tries to obtain additional updates to keep integrity constraints satisfied. On the other hand, when updates of derived or view facts are requested, a view updating mechanism must be applied to translate the update request into correct updates of the underlying base facts. This survey reviews the research performed on integrity constraint maintenance and view updating. It is proposed a general framework to classify and to compare methods that tackle integrity constraint maintenance and/or view updating. Then, we analyze some of these methods in more detail to identify their actual contribution and the main limitations they may present.Postprint (published version

Structuring the process of integrity maintenance (extended version)

Two different approaches have been traditionally considered for dealing with the process of integrity constraints enforcement: integrity checking and integrity maintenance. However, while previous research in the first approach has mainly addressed efficiency issues, research in the second approach has been mainly concentrated in being able to generate all possible repairs that falsify an integrity constraint violation. In this paper we address efficiency issues during the process of integrity maintenance. In this sense, we propose a technique which improves efficiency of existing methods by defining the order in which maintenance of integrity constraints should be performed. Moreover, we use also this technique for being able to handle in an integrated way the integrity constraintsPostprint (published version

Simplification of UML/OCL schemas for efficient reasoning

Ensuring the correctness of a conceptual schema is an essential task in order to avoid the propagation of errors during software development. The kind of reasoning required to perform such task is known to be exponential for UML class diagrams alone and even harder when considering OCL constraints. Motivated by this issue, we propose an innovative method aimed at removing constraints and other UML elements of the schema to obtain a simplified one that preserve the same reasoning outcomes. In this way, we can reason about the correctness of the initial artifact by reasoning on a simplified version of it. Thus, the efficiency of the reasoning process is significantly improved. In addition, since our method is independent from the reasoning engine used, any reasoning method may benefit from it.Peer ReviewedPostprint (author's final draft

Transformation Techniques for OCL Constraints

Constraints play a key role in the definition of conceptual schemas. In the UML, constraints are usually specified by means of invariants written in the OCL. However, due to the high expressiveness of the OCL, the designer has different syntactic alternatives to express each constraint. The techniques presented in this paper assist the designer during the definition of the constraints by means of generating equivalent alternatives for the initially defined ones. Moreover, in the context of the MDA, transformations between these different alternatives are required as part of the PIM-to-PIM, PIM-to-PSM or PIM-to-code transformations of the original conceptual schema

The Constructive method for query containment checking (extended version)

We present a new method that checks Query Containment for queries with negated derived atoms and/or integrity constraints. Existing methods for Query Containment checking that deal with these cases do not check actually containment but another related property called uniform containment, which is a sufficient but not necessary condition for containment. Our method can be seen as an extension of the canonical databases approach beyond the class of conjunctive queries.Postprint (published version

On the practical applicability of current techniques for reasoning on the structural schema

There has been plenty of promising results for providing automated reasoning on the structural part of the conceptual schema and several prototype tools have been developed with this purpose. However, most of these results have remained at the academical level and the industry is not aware of them or it does not consider them relevant enough since it is not using them in software development. With the aim of reducing the gap between academy and industry, the discussion of the participants in this group was aimed at providing an answer to the following questions: 1. What do we need to convince the industry that this technology is useful? 2. Can we come up with a common vocabulary for the various research disciplines that work on this topic? 3. Can we come up with a research agenda of the problems we have to solve?Postprint (published version

IoT semantic data Integration through ontologies

In this position statement we advocate how the use of ontologies may provide a proper solution for IoT semantic data integration. With this, we will improve IoT interoperability and will facilitate the development of software applications that allow providing management and monitoring of different IoT installations in a generic and homogeneous way.This work is partially funded by: Industrial Doctorates DI-2019 from Generalitat de Catalunya, project TIN2017-87610- R from MCIN/AEI/10.13039/501100011033, FEDER “Una manera de hacer Europa”, and project 2017-SGR-1749 from Generalitat de Catalunya. Also with the support of inLab FIB at UPC and Worldsensing.Peer ReviewedPostprint (author's final draft

Kopernik : modeling business processes for digital customers

This paper presents the Kopernik methodology for modeling business processes for digital customers. These processes require a high degree of flexibility in the execution of their tasks or actions. We achieve this by using the artifact-centric approach to process modeling and the use of condition-action rules. The processes modeled following Kopernik can then be implemented in an existing commercial tool, Balandra.Preprin

3D mapping and path planning from range data

This thesis reports research on mapping, terrain classification and path planning. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common proprioceptive modality, that of three-dimensional laser range scanning. The ultimate goal is to deliver navigation paths for challenging mobile robotics scenarios. For this reason we also deliver safe traversable regions from a previously computed globally consistent map. We first examine the problem of registering dense point clouds acquired at different instances in time. We contribute with a novel range registration mechanism for pairs of 3D range scans using point-to-point and point-to-line correspondences in a hierarchical correspondence search strategy. For the minimization we adopt a metric that takes into account not only the distance between corresponding points, but also the orientation of their relative reference frames. We also propose FaMSA, a fast technique for multi-scan point cloud alignment that takes advantage of the asserted point correspondences during sequential scan matching, using the point match history to speed up the computation of new scan matches. To properly propagate the model of the sensor noise and the scan matching, we employ first order error propagation, and to correct the error accumulation from local data alignment, we consider the probabilistic alignment of 3D point clouds using a delayed-state Extended Information Filter (EIF). In this thesis we adapt the Pose SLAM algorithm to the case of 3D range mapping, Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where sensor data is solely used to produce relative constraints between robot poses. These dense mapping techniques are tested in several scenarios acquired with our 3D sensors, producing impressively rich 3D environment models. The computed maps are then processed to identify traversable regions and to plan navigation sequences. In this thesis we present a pair of methods to attain high-level off-line classification of traversable areas, in which training data is acquired automatically from navigation sequences. Traversable features came from the robot footprint samples during manual robot motion, allowing us to capture terrain constrains not easy to model. Using only some of the traversed areas as positive training samples, our algorithms are tested in real scenarios to find the rest of the traversable terrain, and are compared with a naive parametric and some variants of the Support Vector Machine. Later, we contribute with a path planner that guarantees reachability at a desired robot pose with significantly lower computation time than competing alternatives. To search for the best path, our planner incrementally builds a tree using the A* algorithm, it includes a hybrid cost policy to efficiently expand the search tree, combining random sampling from the continuous space of kinematically feasible motion commands with a cost to goal metric that also takes into account the vehicle nonholonomic constraints. The planer also allows for node rewiring, and to speed up node search, our method includes heuristics that penalize node expansion near obstacles, and that limit the number of explored nodes. The method book-keeps visited cells in the configuration space, and disallows node expansion at those configurations in the first full iteration of the algorithm. We validate the proposed methods with experiments in extensive real scenarios from different very complex 3D outdoors environments, and compare it with other techniques such as the A*, RRT and RRT* algorithms.Esta tesis reporta investigación sobre el mapeo, clasificación de terreno y planificación de trayectorias. Estos son problemas clásicos en robótica los cuales generalmente se estudian de forma independiente, aquí se vinculan enmarcandolos con una modalidad propioceptiva común: un láser de rango 3D. El objetivo final es ofrecer trayectorias de navegación para escenarios complejos en el marco de la robótica móvil. Por esta razón también entregamos regiones transitables en un mapa global consistente calculado previamente. Primero examinamos el problema de registro de nubes de puntos adquiridas en diferentes instancias de tiempo. Contribuimos con un novedoso mecanismo de registro de pares de imagenes de rango 3D usando correspondencias punto a punto y punto a línea, en una estrategia de búsqueda de correspondencias jerárquica. Para la minimización optamos por una metrica que considera no sólo la distancia entre puntos, sino también la orientación de los marcos de referencia relativos. También proponemos FAMSA, una técnica para el registro rápido simultaneo de multiples nubes de puntos, la cual aprovecha las correspondencias de puntos obtenidas durante el registro secuencial, usando inicialmente la historia de correspondencias para acelerar el cálculo de las correspondecias en los nuevos registros de imagenes. Para propagar adecuadamente el modelo del ruido del sensor y del registro de imagenes, empleamos la propagación de error de primer orden, y para corregir el error acumulado del registro local, consideramos la alineación probabilística de nubes de puntos 3D utilizando un Filtro Extendido de Información de estados retrasados. En esta tesis adaptamos el algóritmo Pose SLAM para el caso de mapas con imagenes de rango 3D, Pose SLAM es la variante de SLAM donde solamente se estima la trayectoria del robot, usando los datos del sensor como restricciones relativas entre las poses robot. Estas técnicas de mapeo se prueban en varios escenarios adquiridos con nuestros sensores 3D produciendo modelos 3D impresionantes. Los mapas obtenidos se procesan para identificar regiones navegables y para planificar secuencias de navegación. Presentamos un par de métodos para lograr la clasificación de zonas transitables fuera de línea. Los datos de entrenamiento se adquieren de forma automática usando secuencias de navegación obtenidas manualmente. Las características transitables se captan de las huella de la trayectoria del robot, lo cual permite capturar restricciones del terreno difíciles de modelar. Con sólo algunas de las zonas transitables como muestras de entrenamiento positivo, nuestros algoritmos se prueban en escenarios reales para encontrar el resto del terreno transitable. Los algoritmos se comparan con algunas variantes de la máquina de soporte de vectores (SVM) y una parametrizacion ingenua. También, contribuimos con un planificador de trayectorias que garantiza llegar a una posicion deseada del robot en significante menor tiempo de cálculo a otras alternativas. Para buscar el mejor camino, nuestro planificador emplea un arbol de busqueda incremental basado en el algoritmo A*. Incluimos una póliza de coste híbrido para crecer de manera eficiente el árbol, combinando el muestro aleatorio del espacio continuo de comandos cinemáticos del robot con una métrica de coste al objetivo que también concidera las cinemática del robot. El planificador además permite reconectado de nodos, y, para acelerar la búsqueda de nodos, se incluye una heurística que penaliza la expansión de nodos cerca de los obstáculos, que limita el número de nodos explorados. El método conoce las céldas que ha visitado del espacio de configuraciones, evitando la expansión de nodos en configuraciones que han sido vistadas en la primera iteración completa del algoritmo. Los métodos propuestos se validán con amplios experimentos con escenarios reales en diferentes entornos exteriores, asi como su comparación con otras técnicas como los algoritmos A*, RRT y RRT*.Postprint (published version