O presente documento tem por objetivo apresentar a dissertação desenvolvida no Programa de Mestrado em Ciência da Computação e Matemática Computacional do ICMC/USP. A presente pesquisa busca avançar o estado da arte considerando um conceito chamado arquitetura base que integra Veículos Aéreos Não Tripulados (VANTs) com uma plataforma web, no contexto de arquitetura de software, determina uma arquitetura inicial que se adapta as exigências de cada área. Os estudos também avançam na apresentação de uma plataforma web integrando vários VANTs e agregando diferentes módulos com variações que satisfaça a necessidade para diferentes áreas de aplicações. Com frequência os VANTs são utilizados por inúmeras áreas, como agricultura, segurança, monitoramento ambiental, coleta de dados, cidades inteligentes, entre outras, seja para visualizar imagens, vídeos ou informações de voos e é de extrema importância que essas informações estejam além de acessível bem organizadas. Muitos trabalhos são encontrados na literatura sobre VANT, mas poucos tratam o problema de acesso a informações de voos. Neste trabalho é abordado uma arquitetura de software base para a comunicação e recuperação de informações de VANTs. Para isso, a arquitetura base propõem coletar e processar diferentes informações, ou seja como cada VANT tem suas semelhanças e compartilham estruturas comuns, neste cenário, explorando estas similaridades, é proposto esta arquitetura base. Para validar esta hipótese foi realizado um estudo de caso em duas fazendas com cultivos de mangas, com a finalidade de integrar o VANT, a estação base, a estação local e a estação web, podendo recuperar informações. A principal contribuição do trabalho é o auxílio no desenvolvimento da pesquisa na área de VANTs, além de ter também um ambiente que possa ser utilizado em larga escala por diversos pilotos de VANTs para armazenamento de dados dos voos, parte destes dados ficariam em domínio público e outra parte ficaria disponível apenas ao proprietário do VANT. / This paper aims to present the dissertation developed in the Masters Program in Computer Science and Computational Mathematics of the ICMC / USP. The present research seeks to advance state of the art considering a concept called base architecture that integrates Unmanned Aerial Vehicles (UAV) with a platform in the context of software architecture determines an initial architecture that adapts the requirements of each area. The studies also advance in the presentation of a web platform integrating several UAVs and adding different modules with variations that satisfy the need for different areas of applications. Often the UAVs are used by numerous areas such as agriculture, security, environmental monitoring, data collection, smart cities, among others, whether to view images, videos or flight information and it is of the utmost importance that this information is beyond reach well organized. Many papers are found in the UAV literature, but few address the problem of access to flight information. In this work, a base software architecture for the communication and flight information of UAVs is addressed. For this, the base architecture proposes to collect and process different information, that is how each UAV has its similarities and share common structures, in this scenario, exploring these similarities, this base architecture is proposed. To validate this hypothesis, a case study was carried out on two farms with mango crops, in order to integrate the UAV, the base station, the local station and the web station, and can retrieve flight information. The main contribution of the work is the aid in the development of research in the area of UAVs, in addition to having an environment that can be used in large scale by several pilots of UAVs to store flight data, part of this data would be in the public domain and another part would be available only to the UAV owner.

[pt] Atualmente, podemos observar uma clara tendência na direção de sistemas cada vez maiores e mais complexos quanto às suas partes e formas de interconexão. Num cenário como este, torna-se imperativa a preocupação com a modelagem da estrutura, organização geral e formas de interação presentes nesses sistemas, assim como com as garantias de que certos requisitos críticos sejam atendidos. O contexto de nosso trabalho engloba disciplinas de Engenharia de Software, como Arquitetura de Software e Técnicas de Modelagem, e disciplinas mais formais como Verificação de Modelos, Lógicas Modais e Álgebras de Processos. Nosso trabalho tem inspirações nestas disciplinas mas apresenta, de fato, um cunho metodológico, localizando-se nas fronteiras da ES com Métodos Formais, onde buscamos investigar e estabelecer uma forma sistemática para utilização efetiva de métodos formais logo nas etapas iniciais do desenvo lvimento. Mais especificamente, mostramos como é possível, a partir de modelos baseados em abstrações arquiteturais, obter-se sistematicamente um modelo formal sobre o qual possamos realizar certos tipos de análise comportamental. Nossa proposta inclui um sistema notacional básico para expressar modelos arquiteturais, junto com sua semântica formal, e um protótipo construído para dar suporte a tarefas de especificação e análise formal orientadas por abstrações arquiteturais. Com isto, pretendemos abordar alguns dos aspectos essenciais de uma metodologia de desenvolvimento que integre ferramentas e técnicas formais na etapa de modelagem arquitetural. / [en] There is a trend nowadays towards bigger and more complex systems concerning their parts and interconnectivity. In such scenario, modeling structure, overall organization and interaction have become a main concern, as well as fulfillment of mission critical requirements. The scope of our work encompasses Software Engineering related subjects such as Software Architecture, Modeling Techniques and more formal disciplines like Model Checking, Modal Logics and Process Algebra. Although inspired by such techniques, there is, indeed a methodological orientation in our work, traversing the boundaries of Software Engineering with Formal Methods, through which we seek to investigate and establish a systematic way for the effective utilization of formal methods in the first steps of software development. Still, more specifically, we show how it is possible, starting from models based on architectural abstractions, to systematically produce a formal model upon which we can execute certain forms of behavior analysis. Our proposal includes a basic notational system to express architectural models along with their formal semantics and a prototype built to support specification and formal analysis tasks oriented by architectural abstractions. With this, we intend to stress some essential aspects of a development methodology which aims to integrate tools and formal techniques to software modeling.

The Intelligent Control Paradigm for software architecture is the result of this work. The Viable Software Approach is developed as an instance of the paradigm. The approach uses the Viable System Model as the basis for software system architecture. The result is a model-based architecture and approach for developing software systems by piecemeal adaptation with the goal that they become adaptive systems at runtime. Software built in this manner is called Viable Software. Viable Software represents a unifying class of self-controlling software that is an “intelligent” control system. Cybernetics, Control Theory, and Complexity Theory are the background for this work, and aspects relevant to this work are presented. These results are related to software architecture and software engineering. Rationale for the selection of the Viable System Model as a basis for software systems is given. The Viable System Model is described. The model is restated as an Alexanderian “pattern language” to make it more accessible to software engineering. A Viable Software Approach is proposed and expressed in the form of a Product Line Architecture that arranges the Viable System Model, the Viable Software Architecture, a Viable Component Framework, and a Component Transfer Protocol into a system for generative programming. An important result is the formalisation of the pattern of the Viable System into the interface specifications of the Viable Component. Three case studies illustrate the approach. The first is an analysis and extension of the Groove collaboration system. This study shows how the approach is used to map an existing system into the Viable Software Architecture and add fuzzy-adaptive user interface controllers. The second study presents the design and detailed software construction of an adaptive camera controller as part of a smart environment. The final study shows how a Business-to-Business e-Commerce system can be evolved and an expert system-based controller developed to implement business contracts.

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This research focused on the design and implementation of an Intelligent Modular Controller (IMC) architecture designed to be reconfigurable over a robust network. The design incorporates novel communication, hardware, and software architectures. This was motivated by current industrial needs for distributed control systems due to growing demand for less complexity, more processing power, flexibility, and greater fault tolerance. To this end, three main contributions were made. <p>Most distributed control architectures depend on multi-tier heterogeneous communication networks requiring linking devices and/or complex middleware. In this study, first, a communication architecture was proposed and implemented with a homogenous network employing the ubiquitous Ethernet for both real-time and non real-time communication. This was achieved by a producer-consumer coordination model for real-time data communication over a segmented network, and a client-server model for point-to-point transactions. The protocols deployed use a Time-Triggered (TT) approach to schedule real-time tasks on the network. Unlike other TT approaches, the scheduling mechanism does not need to be configured explicitly when controller nodes are added or removed. An implicit clock synchronization technique was also developed to complement the architecture. Second, a reconfigurable mechanism based on an auto-configuration protocol was developed. Modules on the network use this protocol to automatically detect themselves, establish communication, and negotiate for a desired configuration. Third, the research demonstrated hardware/software co-design as a contribution to the growing discipline of mechatronics. The IMC consists of a motion controller board designed and prototyped in-house, and a Java microcontroller. An IMC is mapped to each machine/robot axis, and an additional IMC can be configured to serve as a real-time coordinator. The entire architecture was implemented in Java, thus reinforcing uniformity, simplicity, modularity, and openness. Evaluation results showed the potential of the flexible controller to meet medium to high performance machining requirements.

This thesis explores mining the evolutionary history of a software system to support software developers and managers in their endeavors to build and maintain complex software systems. We introduce the idea of evolutionary extractors which are specialized extractors that can recover the history of software projects from software repositories, such as source control systems. The challenges faced in building C-REX, an evolutionary extractor for the C programming language, are discussed. We examine the use of source control systems in industry and the quality of the recovered C-REX data through a survey of several software practitioners. Using the data recovered by C-REX, we develop several approaches and techniques to assist developers and managers in their activities. We propose <em>Source Sticky Notes</em> to assist developers in understanding legacy software systems by attaching historical information to the dependency graph. We present the <em>Development Replay</em> approach to estimate the benefits of adopting new software maintenance tools by reenacting the development history. We propose the <em>Top Ten List</em> which assists managers in allocating testing resources to the subsystems that are most susceptible to have faults. To assist managers in improving the quality of their projects, we present a complexity metric which quantifies the complexity of the changes to the code instead of quantifying the complexity of the source code itself. All presented approaches are validated empirically using data from several large open source systems. The presented work highlights the benefits of transforming software repositories from static record keeping repositories to active repositories used by researchers to gain empirically based understanding of software development, and by software practitioners to predict, plan and understand various aspects of their project.

This thesis explores mining the evolutionary history of a software system to support software developers and managers in their endeavors to build and maintain complex software systems. We introduce the idea of evolutionary extractors which are specialized extractors that can recover the history of software projects from software repositories, such as source control systems. The challenges faced in building C-REX, an evolutionary extractor for the C programming language, are discussed. We examine the use of source control systems in industry and the quality of the recovered C-REX data through a survey of several software practitioners. Using the data recovered by C-REX, we develop several approaches and techniques to assist developers and managers in their activities. We propose <em>Source Sticky Notes</em> to assist developers in understanding legacy software systems by attaching historical information to the dependency graph. We present the <em>Development Replay</em> approach to estimate the benefits of adopting new software maintenance tools by reenacting the development history. We propose the <em>Top Ten List</em> which assists managers in allocating testing resources to the subsystems that are most susceptible to have faults. To assist managers in improving the quality of their projects, we present a complexity metric which quantifies the complexity of the changes to the code instead of quantifying the complexity of the source code itself. All presented approaches are validated empirically using data from several large open source systems. The presented work highlights the benefits of transforming software repositories from static record keeping repositories to active repositories used by researchers to gain empirically based understanding of software development, and by software practitioners to predict, plan and understand various aspects of their project.

This research focused on the design and implementation of an Intelligent Modular Controller (IMC) architecture designed to be reconfigurable over a robust network. The design incorporates novel communication, hardware, and software architectures. This was motivated by current industrial needs for distributed control systems due to growing demand for less complexity, more processing power, flexibility, and greater fault tolerance. To this end, three main contributions were made. <p>Most distributed control architectures depend on multi-tier heterogeneous communication networks requiring linking devices and/or complex middleware. In this study, first, a communication architecture was proposed and implemented with a homogenous network employing the ubiquitous Ethernet for both real-time and non real-time communication. This was achieved by a producer-consumer coordination model for real-time data communication over a segmented network, and a client-server model for point-to-point transactions. The protocols deployed use a Time-Triggered (TT) approach to schedule real-time tasks on the network. Unlike other TT approaches, the scheduling mechanism does not need to be configured explicitly when controller nodes are added or removed. An implicit clock synchronization technique was also developed to complement the architecture. Second, a reconfigurable mechanism based on an auto-configuration protocol was developed. Modules on the network use this protocol to automatically detect themselves, establish communication, and negotiate for a desired configuration. Third, the research demonstrated hardware/software co-design as a contribution to the growing discipline of mechatronics. The IMC consists of a motion controller board designed and prototyped in-house, and a Java microcontroller. An IMC is mapped to each machine/robot axis, and an additional IMC can be configured to serve as a real-time coordinator. The entire architecture was implemented in Java, thus reinforcing uniformity, simplicity, modularity, and openness. Evaluation results showed the potential of the flexible controller to meet medium to high performance machining requirements.

NETI@home is an open-source software package that collects network performance statistics from end-systems. It has been written for and tested on the Windows, Solaris, and Linux operating systems, with testing for other operating systems to be completed soon. NETI@home is designed to run on end-user machines and collect various statistics about Internet performance. These statistics are then sent to a server at the Georgia Institute of Technology, where they are collected and made publicly available. This tool gives researchers much needed data on the end-to-end performance of the Internet, as measured by end-users. NETI@homes basic approach is to sniff packets sent from and received by the host and infer performance metrics based on these observed packets. NETI@home users are able to select a privacy level that determines what types of data are gathered, and what is not reported. NETI@home is designed to be an unobtrusive software system that runs quietly in the background with little or no intervention by the user, and using few resources.

Downloading software from a server usually takes a noticeable amount of time, that is, noticeable to the user who wants to run the program. However, this issue can be mitigated by the use of streaming software. Software steaming is a means by which software can begin execution even while transmission of the full software program may still be in progress. Therefore, the application load time (i.e., the amount of time from when an application is selected for download to when the application can be executed) observed by the user can be significantly reduced. Moreover, unneeded software components might not be downloaded to the device, lowering memory and bandwidth usages. As a result, resource utilization such as memory and bandwidth usage may also be more efficient. Using our streaming method, an embedded device can support a wide range of applications which can be run on demand. Software streaming also enables small memory footprint devices to run applications larger than the physical memory by using our memory management technique. In this dissertation, we present a streaming method we call block streaming to transmit stream-enabled applications, including stream-enabled file I/O. We implemented a tool to partition software into blocks which can be transmitted (streamed) to the embedded device. Our streaming method was implemented and simulated on an MBX860 board and on a hardware/software co-simulation platform in which we used the PowerPC architecture. We show a robotics application that, with our software streaming method, is able to meet its deadline. The application load time for this application also improves by a factor of more than 10X when compared to downloading the entire application before running it. The experimental results also show that our implementation improves file I/O operation latency; in our examples, the performance improves up to 55.83X when compared with direct download. Finally, we show a stream-enabled game application combined with stream-enabled file I/O for which the user can start playing the game 3.18X more quickly than using only the stream-enabled game program file alone.