Disseny d’un comportament en ROS per a mantenir la posició d’un vehicle autònom submarí a partir de referències visuals

En el Centre d'Investigació en Robòtica Submarina (CIRS) de la Universitat de Gironaes disposa de diferents robots submarins els quals utilitzen una arquitectura software anomenada Component Oriented Layered-based Architecture for Autonomy ( COLA2 ), la qual ha estat desenvolupada per estudiants i professors del mateix centre. Per tal de fer aquesta arquitectura més accessible per a professors i estudiant d’altres centres la COLA2 s’està adaptant al Robot Operative System (ROS) que és un framework genèric per al desenvolupament d’aplicacions amb robots. Aquest projecte pretén dissenyar un comportament per al robot Girona500 que estigui desenvolupat dins la versió ROS de l’arquitectura COLA2. El comportament haurà de fer mantenir una determinada posició al robot amb informació visual de la càmera del robot i amb dades de navegació. La tasca de mantenir la posició es de vital importància per a poder realitzar intervencions submarines que requereixen de precisió i, precisament, el medi on es treballa no ajuda

Experiences applying OVM 2.0 to an 8B/10B RTL design

The SystemVerilog implementation of the Open Verification Methodology (OVM) is exercised on an 8b/10b RTL open core design in the hope of being a simple yet complete exercise to expose the key features of OVM. Emphasis is put onto the actual usage of the verification components rather than a complete verification flow aiming at being of help to readers unfamiliar with OVM seeking to apply the methodology to their own designs. A link that takes you to the complete code is given to reinforce this aim. We found the methodology easy to use but intimidating at first glance specially for someone with little experience in object oriented programming. However it is clear to see the flexibility, portability and reusability of verification code once you manage to give some first steps.

Technology diffusion: analysing the diffusion of agent technologies

Despite several examples of deployed agent systems, there remain barriers to the large-scale adoption of agent technologies. In order to understand these barriers, this paper considers aspects of marketing theory which deal with diffusion of innovations and their relevance to the agents domain and the current state of diffusion of agent technologies. In particular, the paper examines the role of standards in the adoption of new technologies, describes the agent standards landscape, and compares the development and diffusion of agent technologies with that of object-oriented programming. The paper also reports on a simulation model developed in order to consider different trajectories for the adoption of agent technologies, with trajectories based on various assumptions regarding industry structure and the existence of competing technology standards. We present details of the simulation model and its assumptions, along with the results of the simulation exercises.

Linguagem orientada e estrutura de dados para projeto automatico de edificios

Uma linguagem orientada ao problema de projeto estrutural de edifícios e a correspondente estrutura de armazenamento de dados são apresentados, como núcleo principal do sistema PROADE. Objetiva-se assim permitir ao engenheiro estrutural descrever o problema em termos correntes de Engenharia, organizandose os dados recebidos para posterior análise e dimensionamento da estrutura. São discutidos o problema PROADE e os dados correspondentes, seguidos pela descrição das estruturas de armazenamento de dados do sistema. A seguir, define-se a linguagem PROADE e finalmente apresenta-se a organização do sistema PROADE.

Pricing the option adjust spread of Brazilian Eurobonds

This paper presents results of a pricing system to compute the option adjusted spread ("DAS") of Eurobonds issued by Brazilian firms. The system computes the "DAS" over US treasury rates taktng imo account the embedded options present on these bonds. These options can be calls ("callable bond"), puts ("putable bond") or combinations ("callable and putable bond"). The pricing model takes into account the evolution of the term structure along time, is compatible with the observable market term structure and is able to compute risk measures such as duration and convexity, and pricing and hedging of options on these bonds. Examples show the ejJects of the embedded options on the spread and risk measures as well as the ejJects on the spread due to variations on the volatility parameters ofthe short rate.

Beta: uma ferramenta para geração de testes de unidade a partir de especificações B

Formal methods and software testing are tools to obtain and control software quality. When used together, they provide mechanisms for software specification, verification and error detection. Even though formal methods allow software to be mathematically verified, they are not enough to assure that a system is free of faults, thus, software testing techniques are necessary to complement the process of verification and validation of a system. Model Based Testing techniques allow tests to be generated from other software artifacts such as specifications and abstract models. Using formal specifications as basis for test creation, we can generate better quality tests, because these specifications are usually precise and free of ambiguity. Fernanda Souza (2009) proposed a method to define test cases from B Method specifications. This method used information from the machine s invariant and the operation s precondition to define positive and negative test cases for an operation, using equivalent class partitioning and boundary value analysis based techniques. However, the method proposed in 2009 was not automated and had conceptual deficiencies like, for instance, it did not fit in a well defined coverage criteria classification. We started our work with a case study that applied the method in an example of B specification from the industry. Based in this case study we ve obtained subsidies to improve it. In our work we evolved the proposed method, rewriting it and adding characteristics to make it compatible with a test classification used by the community. We also improved the method to support specifications structured in different components, to use information from the operation s behavior on the test case generation process and to use new coverage criterias. Besides, we have implemented a tool to automate the method and we have submitted it to more complex case studies

Utilizando programação orientada a aspectos no projeto de sistemas hardware desenvolvidos com SystemC

New programming language paradigms have commonly been tested and eventually incorporated into hardware description languages. Recently, aspect-oriented programming (AOP) has shown successful in improving the modularity of object-oriented and structured languages such Java, C++ and C. Thus, one can expect that, using AOP, one can improve the understanding of the hardware systems under design, as well as make its components more reusable and easier to maintain. We apply AOP in applications developed using the SystemC library. Several examples will be presented illustrating how to combine AOP and SystemC. During the presentation of these examples, the benefits of this new approach will also be discussed

Uma abordagem para a verificação do comportamento excepcional a partir de regras de designe e testes

Checking the conformity between implementation and design rules in a system is an important activity to try to ensure that no degradation occurs between architectural patterns defined for the system and what is actually implemented in the source code. Especially in the case of systems which require a high level of reliability is important to define specific design rules for exceptional behavior. Such rules describe how exceptions should flow through the system by defining what elements are responsible for catching exceptions thrown by other system elements. However, current approaches to automatically check design rules do not provide suitable mechanisms to define and verify design rules related to the exception handling policy of applications. This paper proposes a practical approach to preserve the exceptional behavior of an application or family of applications, based on the definition and runtime automatic checking of design rules for exception handling of systems developed in Java or AspectJ. To support this approach was developed, in the context of this work, a tool called VITTAE (Verification and Information Tool to Analyze Exceptions) that extends the JUnit framework and allows automating test activities to exceptional design rules. We conducted a case study with the primary objective of evaluating the effectiveness of the proposed approach on a software product line. Besides this, an experiment was conducted that aimed to realize a comparative analysis between the proposed approach and an approach based on a tool called JUnitE, which also proposes to test the exception handling code using JUnit tests. The results showed how the exception handling design rules evolve along different versions of a system and that VITTAE can aid in the detection of defects in exception handling code

Geração de testes a partir de gramáticas: áreas de aplicação

The work proposed by Cleverton Hentz (2010) presented an approach to define tests from the formal description of a program s input. Since some programs, such as compilers, may have their inputs formalized through grammars, it is common to use context-free grammars to specify the set of its valid entries. In the original work the author developed a tool that automatically generates tests for compilers. In the present work we identify types of problems in various areas where grammars are used to describe them , for example, to specify software configurations, which are potential situations to use LGen. In addition, we conducted case studies with grammars of different domains and from these studies it was possible to evaluate the behavior and performance of LGen during the generation of sentences, evaluating aspects such as execution time, number of generated sentences and satisfaction of coverage criteria available in LGen

Métricas de sistemas de middleware orientado a aspectos e Aplicação em um sistema de monitoramento de Poços de Petróleo

Nowadays, there are many aspect-oriented middleware implementations that take advantage of the modularity provided by the aspect oriented paradigm. Although the works always present an assessment of the middleware according to some quality attribute, there is not a specific set of metrics to assess them in a comprehensive way, following various quality attributes. This work aims to propose a suite of metrics for the assessment of aspect-oriented middleware systems at different development stages: design, refactoring, implementation and runtime. The work presents the metrics and how they are applied at each development stage. The suite is composed of metrics associated to static properties (modularity, maintainability, reusability, exibility, complexity, stability, and size) and dynamic properties (performance and memory consumption). Such metrics are based on existing assessment approaches of object-oriented and aspect-oriented systems. The proposed metrics are used in the context of OiL (Orb in Lua), a middleware based on CORBA and implemented in Lua, and AO-OiL, the refactoring of OIL that follows a reference architecture for aspect-oriented middleware systems. The case study performed in OiL and AO-OiL is a system for monitoring of oil wells. This work also presents the CoMeTA-Lua tool to automate the collection of coupling and size metrics in Lua source code