| 1. |
- Giaimo, Federico, 1989, et al.
(författare)
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Continuous experimentation on cyber-physical systems: Challenges and opportunities
- 2016
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Ingår i: XP 2016 Scientific Workshops; Edinburgh; United Kingdom;(ACM International Conference Proceeding Series vol 24). - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450341349
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Konferensbidrag (refereegranskat)abstract
- Establishing and mastering continuous experimentation as an instrument in the portfolio of software product managers is of growing importance resulting in continuous renewal of products for continuous user satisfaction. Product managers for purely software-based products like web-based applications found in online web-shops or smartphone apps can monitor usage profiles of their products in the context of their customers' usage (i.e. The "field"). However, in the area of interconnected embedded systems, cyber-physical systems, or with Internet-of-Things (IoT), such continuous experimentation is under-explored and in many cases understandably not considered due to safety considerations. In this position paper, we are outlining challenges and opportunities of continuous experimentation for cyber-physical systems.
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| 2. |
- Yin, Hang, 1982, et al.
(författare)
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Adaptive message restructuring using model-driven engineering
- 2016
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Ingår i: 13th International Conference on Information Technology: New Generations. - Cham : Springer International Publishing. - 2194-5357 .- 2194-5365. - 9783319324678
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Konferensbidrag (refereegranskat)abstract
- Message exchange between distributed software components in cyber-physical systems is a frequent and resource-demanding activity. Existing data description languages simply map user-specified messages literally to the system implementation creating the data stream that is exchanged between the software components; however, our research shows that the exchanged information is often redundant and would allow for runtime optimization. In this paper, we propose a model-based approach for adaptive message restructuring. Taking both design-time properties and runtime properties into account, we propose to dynamically restructure user-specified messages to achieve better resource usage (e.g., reduced latency). Our model-based workflow also includes formal verification of adaptive message restructuring in the presence of complex data flow. This is demonstrated by an automotive example.
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| 3. |
- Yin, Hang, 1982-, et al.
(författare)
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Component-based software development of multi-mode systems — An extended report
- 2016
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Growing software complexity is an increasing challenge for the software development of modern embedded systems. A classical strategy for taming the software complexity is to partition system behaviors into different operational modes specified at design time. Such a multi-mode system can change behavior by switching between modes at runtime. Component-Based Software Engineering (CBSE) is a complementary approach to the software development of complex systems that fosters reuse of independently developed software components. CBSE and the multi-mode approach are fundamentally conflicting in that component-based development conceptually is a bottom-up approach, whereas partitioning systems into operational modes is a topdown approach. In this report we show that it is possible to combine and integrate these two fundamentally conflicting approaches. The key to simultaneously benefitting from the advantages of both approaches lies in the introduction of a hierarchical mode concept that provides a conceptual linkage between the bottom-up component-based approach and system level modes. As a result, systems including modes can be developed from reusable mode-aware components in the modeling phase. The conceptual drawback of the approach—the need for extensive message exchange between components to coordinate mode switches—is eliminated by an algorithm that collapses the component hierarchy and thereby eliminates the need for inter-component coordination. As this algorithm is used from the design to implementation level (“compilation”), the CBSE design flexibility can be combined with efficiently implemented mode handling. At the more specific level, this report presents (1) a mode mapping mechanism which formally specifies the mode relation between composable multi-mode components, (2) a mode transformation technique that transforms component modes to system-wide modes to achieve efficient implementation, and (3) a prototype tool that implements the mode mapping mechanism and mode transformation technique.
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| 4. |
- Yin, Hang, 1982-, et al.
(författare)
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Fighting CPS Complexity by Component-Based Software Development of Multi-Mode Systems
- 2018
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Ingår i: Designs. - Switzerland : DPI. - 2411-9660. ; 2:4, s. 39-61
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Tidskriftsartikel (refereegranskat)abstract
- Growing software complexity is an increasing challenge for the software development of modern cyber-physical systems. A classical strategy for taming this complexity is to partition system behaviors into different operational modes specified at design time. Such a multi-mode system can change behavior by switching between modes at run-time. A complementary approach for reducing software complexity is provided by component-based software engineering (CBSE), which reduces complexity by building systems from composable, reusable and independently developed software components. CBSE and the multi-mode approach are fundamentally conflicting in that component-based development conceptually is a bottom-up approach, whereas partitioning systems into operational modes is a top-down approach with its starting point from a system-wide perspective. In this article, we show that it is possible to combine and integrate these two fundamentally conflicting approaches. The key to simultaneously benefiting from the advantages of both approaches lies in the introduction of a hierarchical mode concept that provides a conceptual linkage between the bottom-up component-based approach and system level modes. As a result, systems including modes can be developed from reusable mode-aware components. The conceptual drawback of the approach—the need for extensive message exchange between components to coordinate mode-switches—is eliminated by an algorithm that collapses the component hierarchy and thereby eliminates the need for inter-component coordination. As this algorithm is used from the design to implementation level (“compilation”), the CBSE design flexibility can be combined with efficiently implemented mode handling, thereby providing the complexity reduction of both approaches, without inducing any additional design or run-time costs. At the more specific level, this article presents (1) a mode mapping mechanism that formally specifies the mode relation between composable multi-mode components and (2) a mode transformation technique that transforms component modes to system-wide modes to achieve efficient implementation
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| 5. |
- Yin, Hang, 1982-
(författare)
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Introducing Mode Switch in Component-Based Software Development
- 2015
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Self-adaptivity, characterized by the ability to dynamically adjust behavior at runtime, is a growing trend in the evolution of modern embedded systems. While self-adaptive systems tend to be flexible and autonomous, self-adaptivity may inevitably complicate software design, test and analysis. A strategy for taming the growing software complexity of self-adaptive systems is to partition system behaviors into different operational modes specified at design time. Such a multi-mode system can change behavior by switching between modes at runtime under certain circumstances. Multi-mode systems can benefit from a complementary approach to the software development of complex systems: Component-Based Software Engineering (CBSE), which fosters reuse of independently developed software components. However, the state-of-the-art component-based development of multi-mode systems does not take full advantage of CBSE, as reuse of modes at component level is barely addressed. Modes are often treated as system properties, while mode switches are handled by a global mode manager. This centralized mode management entails global information of all components, whereas the global information may be inaccessible in component-based systems. Another potential problem is that a single mode manager does not scale well, particularly at design time, for a large number of components and modes. In this thesis we propose a distributed solution to the component-based development of multi-mode systems, aiming for a more efficient and scalable mode management. Our goal is to fully incorporate modes in software component reuse, supporting reuse of multi-mode components, i.e., components able to run in multiple modes. We have developed a generic framework, the Mode-Switch Logic (MSL), which not only supports reuse of multi-mode components but also provides runtime mechanisms for handling mode switch. MSL includes three fundamental elements: (1) a mode-aware component model with the formal specification of reusable multi-mode software components; (2) a mode mapping mechanism for the seamless composition of multi-mode components; and (3) a mode-switch runtime mechanism which is executed by each component in isolation from its functional execution and coordinates the mode switches of different components without the need of global mode information. The mode-switch runtime mechanism has been verified by model checking in conjunction with mathematical proofs. We also provide a mode-switch timing analysis for the runtime mechanism to respect real-time requirements. MSL is dedicated to the mode aspect of a system irrespective of component execution semantics, thus independent of the choice of component models. We have integrated MSL in the ProCom component model with the extension of support for reuse of multi-mode components and distributed mode-switch handling. Although the distributed mode-switch handling of MSL is more flexible and scalable than the conventional centralized approach, when components are deployed on a single hardware platform and global mode information is available, centralized mode-switch handling is more efficient in terms of runtime overhead and mode-switch time. Hence, MSL is supplemented with a mode transformation technique to enhance runtime mode-switch efficiency by converting the distributed mechanism to a centralized mechanism. MSL together with the mode transformation technique has been implemented in a prototype tool where one can build multi-mode systems by reusing multi-mode components. The applicability of MSL is demonstrated in two proof-of-concept case studies.
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| 6. |
- Yin, Hang, 1982, et al.
(författare)
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Mastering data complexity for autonomous driving with adaptive point clouds for urban environments
- 2017
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Ingår i: IEEE Intelligent Vehicles Symposium, Proceedings. - New york : IEEE. - 9781509048045 ; , s. 1364-1371
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Konferensbidrag (refereegranskat)abstract
- LiDAR sensors play a crucial role in autonomous driving and advanced driver assistance systems. By firing high-rate laser beams, a LiDAR device is able to project its surroundings as 2D or 3D point cloud, which can be used for different purposes such as object detection, map generation, localization, and navigation. Autonomous vehicles are often equipped with at least one multi-layer LiDAR sensor with 360-degree coverage to include as much information as possible in the point cloud. Such a device generates enormous amount of data which poses a challenge for data storage, real-Time computation, and data transmission, as autonomous vehicles are typically resource-constrained systems. This paper proposes a lightweight and adaptive point cloud data structure to reduce the size of a 3D point cloud. The suggested data structure can be flexibly configured with different parameters to adapt for precision, distance coverage, and reflectivity resolution. The precision of the data structure is evaluated using a 16-layer Velodyne LiDAR sensor (VLP-16) to collect data in the city area of AstaZero proving ground and Gothenburg downtown. Our results show that the adaptive data structure can consume only 1/8th of the original point cloud size and hence, it is particularly suitable for applications with limited hardware resources or certain tolerance to precision of the point cloud. The suggested concept is also generalizable to other types of point cloud providing sensors.
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| 7. |
- Yin, Hang, 1982-
(författare)
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Mode switch for component-based multi-mode systems
- 2012
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Component-based software engineering is becoming a prominent solution to the development of complex embedded systems. Since it allows a system to be built by reusable and independently developed components, component-based development substantially facilitates the development of a complex embedded system and allows its complexity to be better managed. Meanwhile, partitioning system behavior into multiple operational modes is also an effective approach to reducing system complexity. Combining the component-based approach with the multi-mode approach, we get a component-based multi-mode system, for which a key issue is its mode switch handling. The mode switch of such a system corresponds to the joint mode switches of many hierarchically organized components. Such a mode switch is not trivial as it amounts to coordinate the mode switches of different components that are independently developed.Since most existing approaches to mode switch handling assume that mode switch is a global event of the entire system, they cannot be easily applied to component-based multi-mode systems where both the mode switch of the system and each individual component must be considered, and where components cannot be assumed to have global knowledge of the system. In this thesis, we present a mechanism---the Mode Switch Logic (MSL)---which provides an effective solution to mode switch in component-based multi-mode systems. MSL enables a multi-mode system to be developed in a component-based manner, including (1) a mode-aware component model proposed to suit the multi-mode context; (2) a mode mapping mechanism for the seamless composition of multi-mode components and their mode switch guidance; (3) a mode switch runtime mechanism which coordinates the mode switches of all related components so that the mode switch can be correctly and efficiently performed at the system level; and (4) a timing analysis for mode switches realized by MSL. All the essential elements of MSL are additionally demonstrated by a case study.
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| 8. |
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| 9. |
- Yin, Hang, 1982, et al.
(författare)
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When to use what data set for your self-driving car algorithm: An overview of publicly available driving datasets
- 2017
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Ingår i: IEEE International Conference on Intelligent Transportation Systems-ITSC. - 2153-0009. - 9781538615263 ; 2018, s. 1-8
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Konferensbidrag (refereegranskat)abstract
- Data collection on public roads has been deemed a valuable activity along with the development of self-driving vehicles. The vehicle for data collection is typically equipped with a variety of sensors such as camera, LiDAR, radar, GPS, and IMU. The raw data of all sensors is logged on a disk while the vehicle is manually driven. The logged data can be subsequently used for training and testing different algorithms for autonomous driving, e.g., vehicle/pedestrian detection and tracking, SLAM, and motion estimation. Data collection is time-consuming and can sometimes be avoided by directly using existing datasets including sensor data collected by other researchers. A multitude of openly available datasets have been released to foster the research on automated driving. These datasets vary a lot in terms of traffic conditions, application focus, sensor setup, data format, size, tool support, and many other aspects. This paper presents an overview of 27 existing publicly available datasets containing data collected on public roads, compares each other from different perspectives, and provides guidelines for selecting the most suitable dataset for different purposes.
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