A simulation model of self-organising evolvability in software systems

The evolvability of a software artifact is its capacity for producing heritable or reusable variants; the inverse quality is the artifact's inertia or resistance to evolutionary change. Evolvability in software systems may arise from engineering and/or self-organising processes. We describe our 'Conditional Growth' simulation model of software evolution and show how, it can be used to investigate evolvability from a self-organisation perspective. The model is derived from the Bak-Sneppen family of 'self-organised criticality' simulations. It shows good qualitative agreement with Lehman's 'laws of software evolution' and reproduces phenomena that have been observed empirically. The model suggests interesting predictions about the dynamics of evolvability and implies that much of the observed variability in software evolution can be accounted for by comparatively simple self-organising processes.

Autonomous intelligent cruise control using a novel multiple-controller framework incorporating fuzzy-logic-based switching and tuning

This paper presents a novel intelligent multiple-controller framework incorporating a fuzzy-logic-based switching and tuning supervisor along with a generalised learning model (GLM) for an autonomous cruise control application. The proposed methodology combines the benefits of a conventional proportional-integral-derivative (PID) controller, and a PID structure-based (simultaneous) zero and pole placement controller. The switching decision between the two nonlinear fixed structure controllers is made on the basis of the required performance measure using a fuzzy-logic-based supervisor, operating at the highest level of the system. The supervisor is also employed to adaptively tune the parameters of the multiple controllers in order to achieve the desired closed-loop system performance. The intelligent multiple-controller framework is applied to the autonomous cruise control problem in order to maintain a desired vehicle speed by controlling the throttle plate angle in an electronic throttle control (ETC) system. Sample simulation results using a validated nonlinear vehicle model are used to demonstrate the effectiveness of the multiple-controller with respect to adaptively tracking the desired vehicle speed changes and achieving the desired speed of response, whilst penalising excessive control action. Crown Copyright (C) 2008 Published by Elsevier B.V. All rights reserved.

Planning rigid body motions using elastic curves

This paper tackles the problem of computing smooth, optimal trajectories on the Euclidean group of motions SE(3). The problem is formulated as an optimal control problem where the cost function to be minimized is equal to the integral of the classical curvature squared. This problem is analogous to the elastic problem from differential geometry and thus the resulting rigid body motions will trace elastic curves. An application of the Maximum Principle to this optimal control problem shifts the emphasis to the language of symplectic geometry and to the associated Hamiltonian formalism. This results in a system of first order differential equations that yield coordinate free necessary conditions for optimality for these curves. From these necessary conditions we identify an integrable case and these particular set of curves are solved analytically. These analytic solutions provide interpolating curves between an initial given position and orientation and a desired position and orientation that would be useful in motion planning for systems such as robotic manipulators and autonomous-oriented vehicles.

Optimal kinematic control of an autonomous underwater vehicle

This note investigates the motion control of an autonomous underwater vehicle (AUV). The AUV is modeled as a nonholonomic system as any lateral motion of a conventional, slender AUV is quickly damped out. The problem is formulated as an optimal kinematic control problem on the Euclidean Group of Motions SE(3), where the cost function to be minimized is equal to the integral of a quadratic function of the velocity components. An application of the Maximum Principle to this optimal control problem yields the appropriate Hamiltonian and the corresponding vector fields give the necessary conditions for optimality. For a special case of the cost function, the necessary conditions for optimality can be characterized more easily and we proceed to investigate its solutions. Finally, it is shown that a particular set of optimal motions trace helical paths. Throughout this note we highlight a particular case where the quadratic cost function is weighted in such a way that it equates to the Lagrangian (kinetic energy) of the AUV. For this case, the regular extremal curves are constrained to equate to the AUV's components of momentum and the resulting vector fields are the d'Alembert-Lagrange equations in Hamiltonian form.

Evolution in software systems: foundations of the SPE classification scheme

The SPE taxonomy of evolving software systems, first proposed by Lehman in 1980, is re-examined in this work. The primary concepts of software evolution are related to generic theories of evolution, particularly Dawkins' concept of a replicator, to the hermeneutic tradition in philosophy and to Kuhn's concept of paradigm. These concepts provide the foundations that are needed for understanding the phenomenon of software evolution and for refining the definitions of the SPE categories. In particular, this work argues that a software system should be defined as of type P if its controlling stakeholders have made a strategic decision that the system must comply with a single paradigm in its representation of domain knowledge. The proposed refinement of SPE is expected to provide a more productive basis for developing testable hypotheses and models about possible differences in the evolution of E- and P-type systems than is provided by the original scheme. Copyright (C) 2005 John Wiley & Sons, Ltd.

The effects of web logs and the semantic web on autonomous web agents

Search engines exploit the Web's hyperlink structure to help infer information content. The new phenomenon of personal Web logs, or 'blogs', encourage more extensive annotation of Web content. If their resulting link structures bias the Web crawling applications that search engines depend upon, there are implications for another form of annotation rapidly on the rise, the Semantic Web. We conducted a Web crawl of 160 000 pages in which the link structure of the Web is compared with that of several thousand blogs. Results show that the two link structures are significantly different. We analyse the differences and infer the likely effect upon the performance of existing and future Web agents. The Semantic Web offers new opportunities to navigate the Web, but Web agents should be designed to take advantage of the emerging link structures, or their effectiveness will diminish.

On a non-autonomous difference equation

Abu-Saris and DeVault proposed two open problems about the difference equation x(n+1) = a(n)x(n)/x(n-1), n = 0, 1, 2,..., where a(n) not equal 0 for n = 0, 1, 2..., x(-1) not equal 0, x(0) not equal 0. In this paper we provide solutions to the two open problems. (c) 2004 Elsevier Inc. All rights reserved.

Autonomous ship collision free trajectory navigation and control algorithms

A new autonomous ship collision free (ASCF) trajectory navigation and control system has been introduced with a new recursive navigation algorithm based on analytic geometry and convex set theory for ship collision free guidance. The underlying assumption is that the geometric information of ship environment is available in the form of a polygon shaped free space, which may be easily generated from a 2D image or plots relating to physical hazards or other constraints such as collision avoidance regulations. The navigation command is given as a heading command sequence based on generating a way point which falls within a small neighborhood of the current position, and the sequence of the way points along the trajectory are guaranteed to lie within a bounded obstacle free region using convex set theory. A neurofuzzy network predictor which in practice uses only observed input/output data generated by on board sensors or external sensors (or a sensor fusion algorithm), based on using rudder deflection angle for the control of ship heading angle, is utilised in the simulation of an ESSO 190000 dwt tanker model to demonstrate the effectiveness of the system.