DSM '13最新文献 - Book学术

Generating a ROS/JAUS bridge for an autonomous ground vehicle 为自主地面车辆生成ROS/JAUS桥

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541931

P. Morley, A. Warren, Ethan Rabb, Sean Whitsitt, Matt Bunting, J. Sprinkle

{"title":"Generating a ROS/JAUS bridge for an autonomous ground vehicle","authors":"P. Morley, A. Warren, Ethan Rabb, Sean Whitsitt, Matt Bunting, J. Sprinkle","doi":"10.1145/2541928.2541931","DOIUrl":"https://doi.org/10.1145/2541928.2541931","url":null,"abstract":"Robotic systems have benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboti- cists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that do not contain a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems. However, previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application's specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.","PeriodicalId":101587,"journal":{"name":"DSM '13","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129177299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Empirical comparison of language workbenches 语言工作台的实证比较

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541935

S. Kelly

引用次数: 8

Towards domain-specific property languages: the ProMoBox approach 面向领域特定的属性语言:ProMoBox方法

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541936

B. Meyers, M. Wimmer, H. Vangheluwe, J. Denil

{"title":"Towards domain-specific property languages: the ProMoBox approach","authors":"B. Meyers, M. Wimmer, H. Vangheluwe, J. Denil","doi":"10.1145/2541928.2541936","DOIUrl":"https://doi.org/10.1145/2541928.2541936","url":null,"abstract":"Domain-specific modeling (DSM) is one major building block of model-driven engineering. By moving from the solution space to the problem space, systems are designed by domain experts. The benefits of DSM are not unique to the design of systems, the specification and verification of desired properties of the designed systems by the help of DSM seems the next logical step. However, this latter aspect is often neglected by DSM approaches or only supported by translating design models to formal representations on which temporal properties are defined and evaluated. Obviously, this transition to the solution space is in contradiction with DSM.\u0000 To shift the specification and verification tasks to the DSM level, we extend traditional Domain-Specific Modeling Languages (DSMLs) for design with ProMoBox, a language family comprising three DSMLs covering design, property specification, and verification results. By using ProMoBox, temporal properties can be described for finite-state systems and verified by the SPIN model checker, by compiling them to Promela and Linear Temporal Logic (LTL). For specifying properties we present a DSML that is based on Dwyer's specification patterns and mash it up with adapted versions of the design DSML to formulate structural patterns. In particular, we show that a ProMoBox can be generated from a single root meta-model and we demonstrate our approach with a ProMoBox for statecharts.","PeriodicalId":101587,"journal":{"name":"DSM '13","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129870908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

MIDE-based sensor management and verification for a self-driving miniature vehicle 基于mide的自动驾驶微型车辆传感器管理与验证

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541929

M. Mamun, C. Berger, J. Hansson

{"title":"MIDE-based sensor management and verification for a self-driving miniature vehicle","authors":"M. Mamun, C. Berger, J. Hansson","doi":"10.1145/2541928.2541929","DOIUrl":"https://doi.org/10.1145/2541928.2541929","url":null,"abstract":"Innovations for today's vehicle functions are mainly driven by software. They realize comfort systems like automated parking but also safety systems where sensors are continuously monitoring the vehicle's surroundings to brake autonomously for avoiding collisions with cars, pedestrians, or bicyclists. In simulation environments, various traffic situations with alternative sensor setups are imitated before testing them on prototypical cars. In this paper, we are presenting an MDE approach for managing different sensor setups in a cyber-physical system development environment to leverage automated model verification, support system testing, and enable code generation. For example, the models are used as the single point of truth to configure and generate sensor setups for system validations in a 3D simulation environment. After their validation, a considered sensor configuration is transformed into a constraint-satisfaction model to be solved by the logical programming language Prolog. Based on this transformation, the conformance to the embedded system specification is formally verified and possible pin assignments, for how to connect the required sensors are calculated. The approach was validated during the development of a self-driving miniature vehicle using an STM32F4-based embedded system running the real-time operating system ChibiOS as the software/hardware interface to the sensors and actors.","PeriodicalId":101587,"journal":{"name":"DSM '13","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114405016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

A roadmap to domain specific programming languages for environmental modeling: key requirements and concepts 用于环境建模的领域特定编程语言的路线图:关键需求和概念

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541934

I. Athanasiadis, F. Villa

引用次数: 12

Model-driven performance estimation, deployment, and resource management for cloud-hosted services 用于云托管服务的模型驱动性能评估、部署和资源管理

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541933

Faruk Caglar, Kyoungho An, Shashank Shekhar, A. Gokhale

引用次数: 12

On the customization of model management systems for file-centric IDEs 关于以文件为中心的ide的模型管理系统的定制

DSM '13 Pub Date : 2013-10-27 DOI: 10.1145/2541928.2541939

D. Méndez-Acuña, R. Casallas, Anne Etien