Towards Generic Monitors for Object-Oriented Real-Time Maude Specifications

Non-Functional Properties (NFPs) are crucial in the design of software. Specification of systems is used in the very first phases of the software development process for the stakeholders to make decisions on which architecture or platform to use. These specifications may be an- alyzed using different formalisms and techniques, simulation being one of them. During a simulation, the relevant data involved in the anal- ysis of the NFPs of interest can be measured using monitors. In this work, we show how monitors can be parametrically specified so that the instrumentation of specifications to be monitored can be automatically performed. We prove that the original specification and the automati- cally obtained specification with monitors are bisimilar by construction. This means that the changes made on the original system by adding monitors do not affect its behavior. This approach allows us to have a library of possible monitors that can be safely added to analyze different properties, possibly on different objects of our systems, at will.Universidad de Málaga, Campus de Excelencia Internacional Andalucía Tech. Spanish MINECO/FEDER project TIN2014-52034-R, NSF Grant CNS 13-19109

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the evergrowing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed

Domain-specific textual meta-modelling languages for model driven engineering

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-31491-9_20Proceedings of 8th European Conference, ECMFA 2012, Kgs. Lyngby, Denmark, July 2-5, 2012Domain-specific modelling languages are normally defined through general-purpose meta-modelling languages like the MOF. While this is satisfactory for many Model-Driven Engineering (MDE) projects, several researchers have identified the need for domain-specific meta-modelling (DSMM) languages providing customised meta-modelling primitives aimed at the definition of modelling languages in a specific domain, as well as the construction of meta-model families. In this paper, we discuss the potential of multi-level meta-modelling for the systematic engineering of DSMM architectures. For this purpose, we present: (i) several primitives and techniques to control the meta-modelling facilities offered to the users of the DSMM languages, (ii) a flexible approach to define textual concrete syntaxes for DSMM languages, (iii) extensions to model management languages enabling the practical use of DSMM in MDE, and (iv) an implementation of these ideas in the metaDepth tool.This work was funded by the Spanish Ministry of Economy and Competitivity (project “Go Lite” TIN2011-24139) and the R&D programme of the Madrid Region (project “e-Madrid” S2009/TIC-1650

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed

Patterns of cooperation: fairness and coordination in networks of interacting agents

We study the self-assembly of a complex network of collaborations among self-interested agents. The agents can maintain different levels of cooperation with different partners. Further, they continuously, selectively, and independently adapt the amount of resources allocated to each of their collaborations in order to maximize the obtained payoff. We show analytically that the system approaches a state in which the agents make identical investments, and links produce identical benefits. Despite this high degree of social coordination some agents manage to secure privileged topological positions in the network enabling them to extract high payoffs. Our analytical investigations provide a rationale for the emergence of unidirectional non-reciprocal collaborations and different responses to the withdrawal of a partner from an interaction that have been reported in the psychological literature.Comment: 20 pages, 8 figure

Enhancing students’ motivation to learn software engineering programming techniques: a collaborative and social interaction approach

To motivate students to study advanced programming techniques, including the use of architectural styles such as the model–view–controller pattern, we have con-ducted action research upon a project based-learning approach. In addition to collabo-ration, the approach includes students’ searching and analysis of scientific documents and their involvement in communities of practice outside academia. In this paper, we report the findings of second action research cycle, which took place throughout the fourth semester of a six-semester program. As with the previous cycle during the pre-vious academic year, students did not satisfactorily achieve expected learning out-comes. More groups completed the assigned activities, but results continue to reflect poor engagement in the communities of practice and very low performance in other learning tasks. From the collected data we have identified new approaches and recom-mendations for subsequent research.Fundação para a Ciência e Tecnologia (FCT), Portugal, for Ph.D. Grants SFRH/BD/91309/2012 and SFRH/BD/87815/201

Reasons for (Non)Participating in a Telephone-Based Intervention Program for Families with Overweight Children

Willingness to participate in obesity prevention programs is low; underlying reasons are poorly understood. We evaluated reasons for (non)participating in a novel telephone-based obesity prevention program for overweight children and their families. percentile) aged 3.5–17.4 years were screened via the CrescNet database, a representative cohort of German children, and program participation (repetitive computer aided telephone counseling) was offered by their local pediatrician. Identical questionnaires to collect baseline data on anthropometrics, lifestyle, eating habits, sociodemographic and psychosocial parameters were analyzed from 433 families (241 participants, 192 nonparticipants). Univariate analyses and binary logistic regression were used to identify factors associated with nonparticipation. percentile) was higher in participants (58.9% vs.38%,p<0.001). Participating girls were younger than boys (8.8 vs.10.4 years, p<0.001). 87.3% and 40% of participants, but only 72.2% and 24.7% of nonparticipants, respectively, reported to have regular breakfasts (p = 0.008) and 5 regular daily meals (p = 0.003). Nonparticipants had a lower household-net-income (p<0.001), but higher subjective physical wellbeing than participants (p = 0.018) and believed that changes in lifestyle can be made easily (p = 0.05).An important reason for nonparticipation was non-awareness of their child's weight status by parents. Nonparticipants, who were often low-income families, believed that they already perform a healthy lifestyle and had a higher subjective wellbeing. We hypothesize that even a low-threshold intervention program does not reach the families who really need it