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Robotics is an emerging field, and it is also affecting several other fields. Design of robotic platforms gains more importance since the focus and aim of the robotics research broadens widely and the variety of the users is significant. This work aims to present the design of a modular mobile robotic platform, which should be simple, easy to build and easy to use. The concept of modularity, usage of off-the shelf components and utilizing a PC platform, are addressed in this work. As a result of this work, a conceptual design is presented, and a prototype is built to highlight some important aspects of the conceptual design.

Submitted by Fabio Sobreira Campos da Costa (fabio.sobreira@ufpe.br) on 2016-03-15T15:21:11Z No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) TESE_SABRINA.pdf: 1152470 bytes, checksum: a89ffc94cb3ee813cf52ca2c043171ba (MD5) / Made available in DSpace on 2016-03-15T15:21:11Z (GMT). No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) TESE_SABRINA.pdf: 1152470 bytes, checksum: a89ffc94cb3ee813cf52ca2c043171ba (MD5) Previous issue date: 2015-03-31 / Software Product Lines (SPLs) allow engineers to systematically build families of software products, defined by a unique combination of features—increments in functionality, improving both the efficiency of the software development process and the quality of the software developed. However, testing these kinds of systems is challenging, as it may require running each test against a combinatorial number of products. We call this problem the High Dimensionality Problem. Another obstacle to product line testing is the absence of Feature Models (FMs), making it difficult to discover the real causes for test failures. We call this problem the Lack of Feature Model Problem. The High Dimensionality Problem is associated to the large space of possible configurations that an SPL can reach. If an SPL has n boolean features, for example, there are 2n possible feature combinations. Therefore, systematically testing this kind of system may require running each test against all those combinations, in the worst case. The Lack of Feature Model Problem is related to the absence of feature models. The FM enables accurate categorization of failing tests as failures of programs or the tests themselves, not as failures due to inconsistent combinations of features. For this reason, the lack of FM presents a huge challenge to discover the true causes for test failures. Aiming to solve these problems, we propose two lightweight techniques: SPLat and SPLif. SPLat is a new approach to dynamically prune irrelevant configurations: the configurations to run for a test can be determined during test execution by monitoring accesses to configuration variables. As a result, SPLat reduces the number of configurations. Consequently, SPLat is lightweight compared to prior works that used static analysis and heavyweight dynamic execution. SPLif is a technique for testing SPLs that does not require a priori availability of feature models. Our insight is to use a profile of passing and failing test runs to quickly identify test failures that are indicative of a problem (in test or code) as opposed to a manifestation of execution against an inconsistent combination of features. Experimental results show that SPLat effectively identifies relevant configurations with a low overhead. We also apply SPLat on two large configurable systems (Groupon and GCC), and it scaled without much engineering effort. Experimental results demonstrate that SPLif is useful and effective to quickly find tests that fail on consistent configurations, regardless of how complete the FMs are. Furthermore, we evaluated SPLif on one large extensively tested configurable system, GCC, where it helped to reveal 5 new bugs, 3 of which have been fixed after our bug reports. / Software Product Lines (SPLs) allow engineers to systematically build families of software products, defined by a unique combination of features—increments in functionality, improving both the efficiency of the software development process and the quality of the software developed. However, testing these kinds of systems is challenging, as it may require running each test against a combinatorial number of products. We call this problem the High Dimensionality Problem. Another obstacle to product line testing is the absence of Feature Models (FMs), making it difficult to discover the real causes for test failures. We call this problem the Lack of Feature Model Problem. The High Dimensionality Problem is associated to the large space of possible configurations that an SPL can reach. If an SPL has n boolean features, for example, there are 2n possible feature combinations. Therefore, systematically testing this kind of system may require running each test against all those combinations, in the worst case. The Lack of Feature Model Problem is related to the absence of feature models. The FM enables accurate categorization of failing tests as failures of programs or the tests themselves, not as failures due to inconsistent combinations of features. For this reason, the lack of FM presents a huge challenge to discover the true causes for test failures. Aiming to solve these problems, we propose two lightweight techniques: SPLat and SPLif. SPLat is a new approach to dynamically prune irrelevant configurations: the configurations to run for a test can be determined during test execution by monitoring accesses to configuration variables. As a result, SPLat reduces the number of configurations. Consequently, SPLat is lightweight compared to prior works that used static analysis and heavyweight dynamic execution. SPLif is a technique for testing SPLs that does not require a priori availability of feature models. Our insight is to use a profile of passing and failing test runs to quickly identify test failures that are indicative of a problem (in test or code) as opposed to a manifestation of execution against an inconsistent combination of features. Experimental results show that SPLat effectively identifies relevant configurations with a low overhead. We also apply SPLat on two large configurable systems (Groupon and GCC), and it scaled without much engineering effort. Experimental results demonstrate that SPLif is useful and effective to quickly find tests that fail on consistent configurations, regardless of how complete the FMs are. Furthermore, we evaluated SPLif on one large extensively tested configurable system, GCC, where it helped to reveal 5 new bugs, 3 of which have been fixed after our bug reports.

The often huge configuration spaces of modern software systems render the detection, prediction, and explanation of defects and inadvertent behaviors challenging tasks. Besides configurability, a further source of complexity is the integration of cyber-physical systems (CPSs). Behaviors in CPSs depend on quantitative aspects such as throughput, energy consumption, and probability of failure, which all play a central role in new technologies like 5G networks, tactile internet, autonomous driving, and the internet of things. The manifold environmental influences and human interactions within CPSs might also trigger reconfigurations, e.g., to ensure quality of service through adaptivity or fulfill user’s wishes by adjusting program settings and performing software updates. Such reconfigurations add yet another source of complexity to the quest of modeling and analyzing modern software systems. The main contribution of this thesis is a formal compositional modeling and analysis framework for systems that involve configurability, adaptivity through reconfiguration, and quantitative aspects. Existing modeling approaches for configurable systems are commonly divided into annotative and compositional approaches, both having complementary strengths and weaknesses. It has been a well-known open problem in the configurable systems community whether there is a hybrid approach that combines the strengths of both specification approaches. We provide a formal solution to this problem, prove its correctness, and show practical applicability to actual configurable systems by introducing a formal analysis framework and its implementation. While existing family-based analysis approaches for configurable systems mainly focused on software systems, we show effectiveness of such approaches also in the hardware domain. To explicate the impact of configuration options onto analysis results, we introduce the notion of feature causality that is inspired by the seminal counterfactual definition of causality by Halpern and Pearl. By means of several experimental studies, including a velocity controller of an aircraft system that required new techniques already for its analysis, we show how our notion of causality facilitates to identify root causes, to estimate the effects of features, and to detect feature interactions.:1 Introduction 2 Foundations 3 Probabilistic Configurable Systems 4 Analysis and Synthesis in Reconfigurable Systems 5 Experimental Studies 6 Causality in Configurable Systems 7 Conclusion

[pt] Uma estratégia comum de linha de produtos de software envolve sistemas da Web baseados em plug-ins que suportam a incorporação simples e rápida de comportamentos personalizados, sendo amplamente adotados para criar aplicativos baseados na web. A popularidade dos ecossistemas que suportam o desenvolvimento baseado em plug-ins (como o WordPress) é, em grande parte, devido ao número de opções de personalização disponíveis como plug-ins contribuídos pela comunidade. Entretanto, as vulnerabilidades relacionadas a plug-ins tendem a ser recorrentes, exploráveis e difíceis de serem detectadas e podem levar a graves conseqüências para o produto personalizado. Portanto, é necessário entender essas vulnerabilidades para permitir a prevenção de ameaças de segurança relevantes. Neste trabalho, realizamos um estudo exploratório para caracterizar vulnerabilidades causadas por plug-ins em sistemas baseados na web, examinando os boletins de vulnerabilidade do WordPress catalogados pelo National Vulnerability Database e os patches associados, mantidos pelo repositório de plugins do WordPress. Identificamos os principais tipos de vulnerabilidades, o seu impacto e o tamanho do patch para corrigir a vulnerabilidade. Identificamos, também, os tópicos mais comuns relacionados à segurança discutidos entre os desenvolvedores do WordPress. Observamos que, embora as vulnerabilidades possam ter consequências graves e permanecerem despercebidas por muito tempo, elas geralmente podem ser atenuadas com pequenas alterações no código-fonte. A caracterização ajuda a fornecer uma compreensão de como tais vulnerabilidades se manifestam na prática e contribui com as novas gerações de ferramentas de teste de vulnerabilidades capazes de antecipar sua possível ocorrência. Esta pesquisa propõe uma ferramenta de suporte para mitigar a ocorrência de vulnerabilidades em sistemas baseados em plugins web, facilitando a descoberta e antecipação da possível ocorrência de vulnerabilidades. / [en] A common software product line strategy involves plug-in-based web systems that support the simple and rapid incorporation of custom behaviors and are widely adopted for building web-based applications. The popularity of ecosystems that support plug-in-based development (such as WordPress) is largely due to the number of customization options available as community-contributed plugins. However, plug-in related vulnerabilities tend to be recurring, exploitable and difficult to detect and can lead to serious consequences for the custom product. Therefore, these vulnerabilities must be understood to enable the prevention of relevant security threats. In this paper, we conduct an exploratory study to characterize plug-in vulnerabilities in web-based systems by examining the WordPress vulnerability bulletins cataloged by the National Vulnerability Database and the associated patches maintained by the WordPress plugin repository. We identify the main types of vulnerabilities, their impact, and the size of the patch to address the vulnerability. We have also identified the most common securityrelated topics discussed among WordPress developers. We note that while vulnerabilities can have serious consequences and remain unnoticed for a long time, they can often be mitigated with minor changes to source code. Characterization helps provide an understanding of how such vulnerabilities manifest themselves in practice and contributes to new generations of vulnerability testing tools that can anticipate their potential occurrence. This research proposes a support tool to mitigate the occurrence of vulnerabilities in web plugin based systems, facilitating the discovery and anticipation of the possible occurrence of vulnerabilities.

Les techniques émergentes de l’ingénierie dirigée par les modèles et de la programmation générative ont permis la création de plusieurs générateurs (générateurs de code et compilateurs). Ceux-ci sont souvent utilisés afin de faciliter le développement logiciel et automatiser le processus de génération de code à partir des spécifications abstraites. De plus, les générateurs modernes comme les compilateurs C, sont devenus hautement configurables, offrant de nombreuses options de configuration à l'utilisateur de manière à personnaliser facilement le code généré pour la plateforme matérielle cible. Par conséquent, la qualité logicielle est devenue fortement corrélée aux paramètres de configuration ainsi qu'au générateur lui-même. Dans ce contexte, il est devenu indispensable de vérifier le bon comportement des générateurs. Cette thèse établit trois contributions principales : Contribution I: détection automatique des inconsistances dans les familles de générateurs de code : Dans cette contribution, nous abordons le problème de l'oracle dans le domaine du test non-fonctionnel des générateurs de code. La disponibilité de multiples générateurs de code avec des fonctionnalités comparables (c.-à-d. familles de générateurs de code) nous permet d'appliquer l'idée du test métamorphique en définissant des oracles de test de haut-niveau (c.-à-d. relation métamorphique) pour détecter des inconsistances. Une inconsistance est détectée lorsque le code généré présente un comportement inattendu par rapport à toutes les implémentations équivalentes de la même famille. Nous évaluons notre approche en analysant la performance de Haxe, un langage de programmation de haut niveau impliquant un ensemble de générateurs de code multi-plateformes. Les résultats expérimentaux montrent que notre approche est capable de détecter plusieurs inconsistances qui révèlent des problèmes réels dans cette famille de générateurs de code. Contribution II: une approche pour l'auto-configuration des compilateurs. Le grand nombre d'options de compilation des compilateurs nécessite une méthode efficace pour explorer l'espace d’optimisation. Ainsi, nous appliquons, dans cette contribution, une méta-heuristique appelée Novelty Search pour l'exploration de cet espace de recherche. Cette approche aide les utilisateurs à paramétrer automatiquement les compilateurs pour une architecture matérielle cible et pour une métrique non-fonctionnelle spécifique tel que la performance et l'utilisation des ressources. Nous évaluons l'efficacité de notre approche en vérifiant les optimisations fournies par le compilateur GCC. Nos résultats expérimentaux montrent que notre approche permet d'auto-configurer les compilateurs en fonction des besoins de l'utilisateur et de construire des optimisations qui surpassent les niveaux d'optimisation standard. Nous démontrons également que notre approche peut être utilisée pour construire automatiquement des niveaux d'optimisation qui représentent des compromis optimaux entre plusieurs propriétés non-fonctionnelles telles que le temps d'exécution et la consommation des ressources. Contribution III: Un environnement d'exécution léger pour le test et la surveillance de la consommation des ressources des logiciels. Enfin, nous proposons une infrastructure basée sur les micro-services pour assurer le déploiement et la surveillance de la consommation des ressources des différentes variantes du code généré. Cette contribution traite le problème de l'hétérogénéité des plateformes logicielles et matérielles. Nous décrivons une approche qui automatise le processus de génération, compilation, et exécution du code dans le but de faciliter le test et l'auto-configuration des générateurs. Cet environnement isolé repose sur des conteneurs système, comme plateformes d'exécution, pour une surveillance et analyse fine des propriétés liées à l'utilisation des ressources (CPU et mémoire). / Generative software development has paved the way for the creation of multiple generators (code generators and compilers) that serve as a basis for automatically producing code to a broad range of software and hardware platforms. With full automatic code generation, users are able to rapidly synthesize software artifacts for various software platforms. In addition, they can easily customize the generated code for the target hardware platform since modern generators (i.e., C compilers) become highly configurable, offering numerous configuration options that the user can apply. Consequently, the quality of generated software becomes highly correlated to the configuration settings as well as to the generator itself. In this context, it is crucial to verify the correct behavior of generators. Numerous approaches have been proposed to verify the functional outcome of generated code but few of them evaluate the non-functional properties of automatically generated code, namely the performance and resource usage properties. This thesis addresses three problems : (1) Non-functional testing of generators: We benefit from the existence of multiple code generators with comparable functionality (i.e., code generator families) to automatically test the generated code. We leverage the metamorphic testing approach to detect non-functional inconsistencies in code generator families by defining metamorphic relations as test oracles. We define the metamorphic relation as a comparison between the variations of performance and resource usage of code, generated from the same code generator family. We evaluate our approach by analyzing the performance of HAXE, a popular code generator family. Experimental results show that our approach is able to automatically detect several inconsistencies that reveal real issues in this family of code generators. (2) Generators auto-tuning: We exploit the recent advances in search-based software engineering in order to provide an effective approach to tune generators (i.e., through optimizations) according to user's non-functional requirements (i.e., performance and resource usage). We also demonstrate that our approach can be used to automatically construct optimization levels that represent optimal trade-offs between multiple non-functional properties such as execution time and resource usage requirements. We evaluate our approach by verifying the optimizations performed by the GCC compiler. Our experimental results show that our approach is able to auto-tune compilers and construct optimizations that yield to better performance results than standard optimization levels. (3) Handling the diversity of software and hardware platforms in software testing: Running tests and evaluating the resource usage in heterogeneous environments is tedious. To handle this problem, we benefit from the recent advances in lightweight system virtualization, in particular container-based virtualization, in order to offer effective support for automatically deploying, executing, and monitoring code in heterogeneous environment, and collect non-functional metrics (e.g., memory and CPU consumptions). This testing infrastructure serves as a basis for evaluating the experiments conducted in the two first contributions.