Software Product Line Engineering for Robotic Perception Systems

A software product line (SPL) usually involves a shared set of core assets and a series of application products. To ensure consistency, the evolution of the core assets and all the application products should be coordinated and synchronized under a unified evolution process. Therefore, SPL evolution often involves cross-product propagation and synchronization besides application derivation based on core assets, presenting quite different characteristic from the evolution of individual software products. As software architectures, including the product line architecture (PLA) and application architectures, play a central role in SPL engineering and evolution, architecture-based evolution analysis is a natural way for analyzing and managing SPL evolution. In this paper, we explore common practices of architecture evolution and the rationale behind in industrial SPL development. To this end, we conduct a case study with Wingsoft examination system product line (WES-PL), an industrial product line with an evolution history of eight years and more than 10 application products. In the case study, we reviewed the evolution history of WES-PL architecture and analyzed several typical evolution cases. Based on the historical analysis, we identify some special problems in industrial SPL practice from the aspect of architecture evolution and summarize some useful experiences about SPL evolution decisions to complement classical SPL methodology. On the other hand, we also propose some possible improvements for the evolution management in WES-PL.

We describe a new method for adaptive model-based control of robotic dynamic systems using a new hybrid neuro-fuzzy-fractal approach. Intelligent control of robotic systems is a difficult problem because the dynamics of these systems is highly nonlinear. Optimal control of many robotic systems also requires methods which make use of predictions of future behavior. We describe an intelligent system for controlling robot manipulators to illustrate our neuro-fuzzy-fractal hybrid approach for adaptive control. We use a new fuzzy inference system for reasoning with multiple differential equations for model selection based on the relevant selection parameters for the problem. We use neural networks for identification and control of robotic dynamic systems.

A systematic mapping study on software product line evolution: From legacy system reengineering to product line refactoring

Robotic systems have significantly transformed the landscape of minimally invasive surgery, offering enhanced precision, reduced recovery times, and improved patient outcomes. These systems have evolved from simple mechanical tools to sophisticated platforms integrating advanced control algorithms and real-time feedback mechanisms. This paper provides a comprehensive overview of the role of robotic systems in minimally invasive surgery, exploring the various benefits, inherent risks, and the challenges associated with their adoption and development. We examine the technical aspects of robotic control systems, such as kinematics, force control, and haptic feedback, which enable greater surgical accuracy. Despite these advantages, challenges such as system complexity, high costs, and ethical concerns remain significant barriers to widespread adoption. The future of robotic surgery lies in overcoming these obstacles, with advancements in system miniaturization and further refinement of control systems poised to enhance the efficacy and accessibility of robotic platforms. This paper explores the role of robotic systems in minimally invasive surgery, focusing on three key areas: bronchoscopy and ureteroscopy. By reviewing the benefits, risks, case studies, and future directions of these technologies, the paper seeks to provide an in-depth understanding of how robotic systems are shaping the future of surgery. Key words: Robotic Surgery, Minimally Invasive Surgery, Robotic Control Systems, Surgical Precision, PID Control, Kinematics, Inverse Kinematics, Forward Kinematics, Dynamic Control, Force Control, Impedance Control, Surgical Robotics, Haptic Feedback, Robotic Arm, Robotic Surgery Benefits, Robotic Surgery Risks, Robot-Assisted Surgery, Surgeon Console, Real-Time Feedback, Surgical Training, Robotic System Development, System Testing, Clinical Trials, Surgical Robot Performance, Robotics in Urology, Telepresence Surgery, Robotic Surgery Cost, Robotic Surgery Future Directions.

Social network services allow a large population of end-users of software products to publicly share their concerns and experiences about software systems. From a software engineering perspective, such data can be collected and analyzed to help software development organizations to infer users’ emerging demands, receive their feedback, and plan the rapid evolution of software product lines. For the evolution of software product lines, organizations supplement emerging requirements in their products to meet user’s needs and also to retain their dominance in the market. Therefore, social network services, being a communication channel, have supported a number of software development activities such as requirements engineering. It has supported software development organizations to cope with numerous limitations of the traditional requirements engineering approaches by eliciting, prioritizing, and negotiating user requirements. However, these approaches do not consider eliciting requirements in terms of variability and commonality while identifying requirements. To address this issue, we have proposed a social network service-based requirement engineering process. It considers the attributes of users’ opinions to determine variability and commonality. In order to justify our proposed approach, a controlled experiment was conducted on a sample set of end-users on Facebook and Twitter. The experimental results show that the team using the proposed approach performed better in terms of efficiency and effectiveness than the team that used a traditional requirements engineering approach.

This paper describes a multi-agent control system for autonomous robots, especially, for the symmetric body robot (SBR). The SBR has several interesting characteristics: it has five symmetrical arms, each of them is driven twenty SMA-coils; and each of the five arms has an independent control board on the root of them. The SBR is completely symmetrical as far as detailed components. It has a high degree of freedom for changing its own body. For controlling the robot behaviors, we consider not only to create suitable action selection mechanisms, but also to study its physical body and the effect of changing its body shape. This paper shows some experiments of the autonomous robot that has the ability to change its own body shape actively.

When autonomous mobile robot is navigating in an unknown environment, the difficulty is avoiding unexpected objects on its way to the goal. This paper presents a new parallel double-layered control system of an autonomous mobile to avoid static or dynamic objects in uncertain environments. Fuzzy control system is a simple way to lay out robot tracking rapidly. The fuzzy control system is consistency and consistency, and easily realized. Simulation results and experiments on the actual robot show that the proposed method can be efficiently applied to robot navigation in complex and unknown environments.

We describe in this paper a new method for adaptive model-based control of robotic dynamic systems using a new hybrid approach combining neural networks, fuzzy logic, and genetic algorithms. Intelligent control of robotic systems is a difficult problem because the dynamics of these systems is highly non-linear. We describe an intelligent system for controlling robotic systems to illustrate our new hybrid approach for adaptive control. We use a new fuzzy inference system for reasoning with multiple differential equations for model selection based on the relevant parameters for the problem. In this case, the genetic algorithm is used to optimize the fuzzy system. We also use neural networks for identification and control of robotic systems.

Due to the high number of sensors managed and need to perform complex reasoning activities, real-time control systems of autonomous robots exhibit a high potential for overload, i.e., real-time tasks missing their deadlines. In these systems overload should be regarded as a likely occurrence and hence managed accordingly. In this paper we illustrate a novel scheduling technique for adaptation of soft real-time load to available computational capacity in the context of autonomous robot control architectures. The technique is based on rate modulation of a set of periodic tasks in a range of admissible rates. The technique is shown to be easily computable and several variations in implementation are reviewed within the paper.

Development of software product lines is particularly complex, raising specific and advanced challenges for requirements engineering and management. This paper gives an overview of these challenges, as they were identified in three related investigations that involved several industrial software product line organizations.

This thesis focuses on the problem of efficiently allocating resources for enhancing the performance of an autonomous robotic agent. Such an agent is expected to operate in complex dynamic environments by continuously monitoring its internal states and the external events. These requirements give raise to countless problems that have populated research in the autonomous robotics community in the last two decades. Among these issues, one of the most relevant is to coordinate different low and high-level behaviors, giving them, from time to time, different priority values both for resource allocation and for action selection processes. The main problem in achieving this requirement is that the number and complexity of the stimuli received by each behavior may be quite high and also the effects on the emerging activity may be very hard to foresee. It is clear that it is not possible for the robotic control system to process all the incoming information, especially for real-time applications. Thus, it becomes necessary to build mechanisms able to guide this sensory input selection process and to choose the best action to perform, assuring an efficient use of the robot limited sensorial and cognitive resources. For this purpose, attentional mechanisms, balancing sensors elaboration and actions execution, can be very useful since they play two main roles: they focus the attention on salient regions of the space and they distribute resources and activities in time. As a result of the application of these mechanisms within the robotic control system for sensory-motor coordination, the robot behavior is improved: the robot becomes able to react faster to task-related or safety-critical stimuli and to opportunely split resources among concurrent behaviors. Attentional mechanisms applied to autonomous robotic systems have already been proposed, but mainly for vision-based robotics; conversely, the contribution introduced by the present thesis is the use of an artificial attentional mechanism suitable both for optimizing the use of resources and for execution monitoring and control.

Academic and commercial approaches to software product line development have concentrated on the rapid instantiation of source code assets to minimise product time to market. Generative programming and model-based software engineering approaches have been suggested as effective ways of achieving this. However, for high-integrity software systems the instantiated product source code has to be accompanied by development process assets that demonstrate and support the product assurance arguments. This paper describes an approach to the model-based development of software product lines that is specifically designed to address the needs of high-integrity software systems. The approach consists of a reference architecture model and component-based development style, supported by model transformations to instantiate the project-specific components and associated development assets.

Software product lines enable reuse of shared software across a family of products. As new products are built in the product line, new features are added. The features are units of functionality that provide services to users. Unwanted feature interactions, wherein one feature interferes with another feature’s operation, is a significant problem, especially as large software product lines evolve. Detecting feature interactions is a time-consuming and difficult task for developers. Moreover, feature interactions are often only discovered during testing, at which point costly re-work is needed. This paper proposes a similarity-based method to identify unwanted feature interactions much earlier in the development process. It uses knowledge of prior feature interactions stored with the software product line’s feature model to help find unwanted interactions between a new feature and existing features. The paper describes the framework and algorithms used to detect the feature interactions using three path similarity measures and evaluates the approach on a real-world, evolving software product line. Results show that the approach performs well, with 83% accuracy and 60% to 100% coverage of feature interactions in experiments, and scales to a large number of features.

Robotic technologies for rehabilitating motor impairments from neurological injuries have been the focus of intensive research and capital investment for more than 30 years. However, these devices have failed to convincingly demonstrate greater restoration of patient function compared to conventional therapy. Nevertheless, robots have value in reducing the manual effort required for physical therapists to provide high-intensity, high-dose interventions. In most robotic systems, therapists remain outside the control loop to act as high-level supervisors, selecting and initiating robot control algorithms to achieve a therapeutic goal. The low-level physical interactions between the robot and the patient are handled by adaptive algorithms that can provide progressive therapy. In this perspective, we examine the physical therapist's role in the control of rehabilitation robotics and whether embedding therapists in lower-level robot control loops could enhance rehabilitation outcomes. We discuss how the features of many automated robotic systems, which can provide repeatable patterns of physical interaction, may work against the goal of driving neuroplastic changes that promote retention and generalization of sensorimotor learning in patients. We highlight the benefits and limitations of letting therapists physically interact with patients through online control of robotic rehabilitation systems, and explore the concept of trust in human-robot interaction as it applies to patient-robot-therapist relationships. We conclude by highlighting several open questions to guide the future of therapist-in-the-loop rehabilitation robotics, including how much control to give therapists and possible approaches for having the robotic system learn from therapist-patient interactions.

Software Product Line (SPL) development is a new approach to software engineering that aims at the development of a whole range of products. One of the problems which hinders the adoption of that approach is related with the management of the products of the line. Additionally, the scope of a software product line is determined by the bounds of the capabilities provided by the collection of products in the product line. This introduces new challenges related to the scope problem. One of the main three different forms of scoping is the Product Portfolio Scoping (PPS). PPS aims at defining the products that should be developed as well as their key features. While this has an impact on the actual reuse opportunities, it is usually driven from marketing aspects. Defining a product portfolio by considering costumers satisfaction and cost aspects is a NP-hard problem. This work presents a hybrid approach, which combines fuzzy inference systems and the multi-objective metaheuristics NSGAII to support product management by generating portfolios of products, based in segments of users and the development cost of the assets of the SPL. Fuzzy inference systems are used to generate development cost of an asset by using coupling, number of code lines and cyclomatic complexity and also to estimate the quality of the products generated by the optimization module of our approach. The NSGA-II metaheuristic is used to search for products minimizing the cost and maximizing the relevance of the candidate products. The results show that the proposed approach is effective in proposing the best products in terms of relevance and cost of the assets.