Month: May 2020

The paper “Toward distributed Streaming data Sharing Manager for Autonomous Robot Control” was accepted and presented on IEEE/SICE International Symposium on System Integration (SII) in Honolulu, 2020

The paper abstract:

Using robots is demanding for supporting our lives and/or covering works that are not suitable for human beings. The robot software implementation requires a variety of knowledge and experiences. Thereby developing cost for such software systems is now increasing. Middleware systems such as Robot Operating System (ROS) are being developed to decrease such costs and widely used. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a common PC. This feature enables developers to control a robot by taking account of measured time. This control is important because using multiple sensor data with different timestamp cannot allow developers to control a robot correctly. SSM assumes that only one PC is used to control a robot, therefore if it exists a process that consumes much CPU resource, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot.

This paper proposes an architecture called Distributed Streaming data Sharing Manager (DSSM) that enables to distributing of each process on existing SSM to different PCs. We investigate the current architecture and behavior of SSM, then propose a new architecture that can achieve our goal. Finally, we apply DSSM to an existing SSM based robot control system
that autonomously controls an unmanned vehicle, then confirms the effectiveness of DSSM by measuring the resource usages.

The paper “Activation Interfaces for Modular Reasoning in Context-Oriented Programming” was the 12th International Workshop on Context-Oriented Programming (COP).

The abstract paper:

Different activation mechanisms for Context-Oriented Programming (COP) like implicit activations have been proposed, increasing COP opportunities to be applied in real scenarios. However, activation mechanisms and base code definitions are insufficiently decoupled, as conditionals to activate layers require base code variable references. This hinders reuse, evolution, and modular reasoning of COP and base code, and therefore, uses of COP in real scenarios. This paper proposes Activation Interfaces (AIs), which are shared abstractions to communicate activation mechanisms and base code in a decoupled manner. Using these interfaces, an object can exhibit its internal state and behaviors, and conditionals use them to (de)activate layers. As layers are planned to be (re)used in different applications, developers can use AIs to overcome the incompatibility between values exposed by a particular base code and values required by a layer. In addition, as a layer is a plain object, it can use an AI to exhibit the conditional evaluation of its activation to other layers to resolve conflicts among activations of layers. We apply this proposal to implicit activations in which evaluations of conditionals implicitly (de)activate layers. Finally, we illustrate the benefits of this proposal through RAI-JS, a practical JavaScript library that currently supports AIs, reactive activations (implementation variant for implicit activations), global and dynamic deployment, enter and exit transition processes, and partial methods.