7th International Workshop on Graph Based Tools (GraBaTs 2012): Preface

The 7th International Workshop on Graph Based Tools is the continuation of the GraBaTs series of workshops which provides a forum for researchers and practitioners interested in the development and application of graph-based tools. The purpose of this workshop is to survey the state of the art of graph-based tools, bring together developers of graph-based tools in different application fields and to encourage new tool development cooperations. GraBaTs 2012 is the 7th edition in a line of workshops which started 10 years ago at ICGT'02

ModGraph meets Xcore: Combining Rule-Based and Procedural Behavioral Modeling for EMF

Model-driven software engineering aims at increasing productivity bydeveloping high-level executable models. The Eclipse Modeling Framework (EMF)significantly contributes toward this goal. Unfortunately, EMF supports only structural models based on the Ecore metamodel. Recently, Xcore has been developed to extend EMF with behavioral modeling. To this end, Xcore provides a single textual language for both structural and behavioral modeling. While Xcore follows a procedural approach to behavioral modeling, ModGraph is an EMF-based tool based on a rule-based paradigm (graph transformation rules, which allow to specify behavior in a declarative way). The combination of EMF, Xcore, and ModGraph results in an environment for model-driven software engineering which provides full-fledged support for both structural and behavioral modeling. Altogether, we obtain an environment in which software engineers are concerned only with models rather than with programs

自律移動ロボット用の地図を豊かにする高レベルの知識生成に関する研究

要約のみTohoku University田所諭課

Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR

The objective of this study was to achieve simultaneous localization and mapping (SLAM) of firefighter robots for petrochemical complexes. Consistency of the SLAM map is important because human operators compare the map with aerial images and identify target positions on the map. The global positioning system (GPS) enables increased consistency. Therefore, this paper describes two Rao-Blackwellized particle filters (RBPFs) based on GPS and light detection and ranging (LIDAR) as SLAM solutions. Fast-SLAM 1.0 and Fast-SLAM 2.0 were used in grid maps for RBPFs in this study. We herein propose the use of Fast-SLAM to combine GPS and LIDAR. The difference between the original Fast-SLAM and the proposed method is the use of the log-likelihood function of GPS; the proposed combination method is implemented using a probabilistic mathematics formulation. The proposed methods were evaluated using sensor data measured in a real petrochemical complex in Japan ranging in size from 550–380 m. RTK-GPS data was used for the GPS measurement and had an availability of 56%. Our results showed that Fast-SLAM 2.0 based on GPS and LIDAR in a dense grid map produced the best results. There was significant improvement in alignment to aerial data, and the mean square root error was 0.65 m. To evaluate the mapping consistency, accurate 3D point cloud data measured by Faro Focus 3D (± 3 mm) was used as the ground truth. Building sizes were compared; the minimum mean errors were 0.17 and 0.08 m for the oil refinery and management building area and the area of a sparse building layout with large oil tanks, respectively. Consequently, a consistent map, which was also consistent with an aerial map (from Google Maps), was built by Fast-SLAM 1.0 and 2.0 based on GPS and LIDAR. Our method reproduced map consistency results for ten runs with a variance of ± 0.3 m. Our method reproduced map consistency results with a global accuracy of 0.52 m in a low RTK-Fix-GPS environment, which was a factory with a building layout similar to petrochemical complexes with 20.9% of RTK-Fix-GPS data availability

Integrierte Softwaremessung durch Verankerung der Softwaremaße an Elementen des Vorgehensmodells

Wird Softwaremessung mit dem Ziel der Prozessverbesserung angewendet, so sollte die Erfassung der Messwerte in geeigneter Weise standardisiert erfolgen, um verschiedene Softwareentwicklungsprojekte vergleichen zu können. Dieser Beitrag stellt einen Ansatz vor, die Softwaremaße an den Elementen des dem Entwicklungsprozess zugrunde liegenden Vorgehensmodells zu verankern. Neu dabei ist, dass wir nicht nur Projektmeilensteine, sondern beliebige im Vorgehensmodell definierte Aktivitäten oder Produkte als Anknüpfungspunkte für die Softwaremaße verwenden. Dadurch ist es möglich, die relevanten Softwaremaße unabhängig von einem konkreten Projekt festzulegen. Über den Projektstrukturplan wird zur Laufzeit des Projekts die Verbindung von den Aktivitäten des Vorgehensmodells zu den tatsächlich zu messenden Entitäten hergestellt. Durch den Einsatz des Projektverwaltungstools Maven kann dann die Erfassung der Softwaremaße automatisiert durchgeführt werden