Evolutionary changes applied to a framework API may invalidate existing framework-based applications. While manually adapting applications is expensive and error-prone, automatic adaptation demands cumbersome specifications, which the developers are reluctant to write and maintain. Considering structural changes (so-called refactorings) of framework APIs, our adaptation technology supports backward-compatible framework upgrade. The technology is rigorous defining precisely the structure and automatic derivation of compensating adapters. It is also practical compensating for most application-breaking API changes automatically, while requiring neither manual adaptation nor recompilation of existing application code.

Evolutionary changes applied to a framework API may invalidate existing framework-based applications. While manually adapting applications is expensive and error-prone, automatic adaptation demands cumbersome specifications, which the developers are reluctant to write and maintain. Considering structural changes (so-called refactorings) of framework APIs, our adaptation technology supports backward-compatible framework upgrade. The technology is rigorous defining precisely the structure and automatic derivation of compensating adapters. It is also practical compensating for most application-breaking API changes automatically, while requiring neither manual adaptation nor recompilation of existing application code.

A área de sistemas multiagentes é um promissor domínio tecnológico para uso em performances musicais interativas. Em trabalhos recentes, essa tecnologia vem sendo utilizada para resolver problemas musicais de escopo específico e alcance limitado, como a detecção de pulsação, a simulação de instrumentos e o acompanhamento musical automático. Neste trabalho, apresentamos uma taxonomia desses sistemas multiagentes musicais e uma arquitetura e implementação de um arcabouço computacional que generaliza os trabalhos anteriores e aborda problemas usuais como a sincronização em tempo real, a comunicação sonora e a mobilidade espacial dos agentes. Através do arcabouço, um usuário pode desenvolver um sistema multiagente musical focado em suas necessidades musicais, enquanto deixa grande parte dos problemas técnicos a cargo do arcabouço. Para validar o arcabouço, implementamos e discutimos dois estudos de caso que exploram diversos aspectos de um sistema multiagente musical, como a comunicação simbólica, a troca de áudio digital, o uso de trajetórias espaciais, a simulação acústica e conceitos de vida artificial, como códigos genéticos e reprodução, demonstrando a usabilidade do arcabouço em uma grande variedade de aplicações musicais. / Multiagent system technology is a promising new venue for interactive musical performance. In recent works, this technology has been tailored to solve specific, limited scope musical problems, such as pulse detection, instrument simulation or automatic accompaniment. In this work, we pre- sent a taxonomy of such musical multiagent systems, and an implementation of a computational framework that subsumes previous works and addresses general-interest low-level problems such as real-time synchronization, sound communication and spatial agent mobility. By using it, a user may develop a musical multiagent system focusing primarily in his/her musical needs, while leaving most of the technical problems to the framework. To validate this framework, we implemented and discussed two cases studies that explored several aspects of musical multiagent systems, such as symbolic and audio communication, spatial trajectories and acoustical simulation, and artificial life concepts, like genetic codes and reproduction, thus indicating the usefulness of this framework in a variety of musical applications.

The ability of the software engineering community to achieve high levels of reuse from software frameworks has been tempered by the difficulty in understanding how to reuse them properly. When written correctly, a plugin can take advantage of the framework’s code and architecture to provide a rich application with relatively few lines of code. Unfortunately, doing this correctly is difficult because frameworks frequently require plugin developers to be aware of complex protocols between objects, and improper use of these protocols causes exceptions and unexpected behavior at run time. This dissertation introduces collaboration constraints, rules governing how multiple objects may interact in a complex protocol. These constraints are particularly difficult to understand and analyze because they may extend across type boundaries and even programming language boundaries. This thesis improves the state of the art through two mechanisms. First, it provides a deep understanding of these collaboration constraints and the framework designs which create them. Second, it introduces Fusion, an adoptable specification language and static analysis tool, that detects broken collaboration constraints in plugin code and demonstrates how to achieve this goal in a cost-effective manner that is practical for industry use. In this dissertation, I have done an empirical study of framework help forums which showed that collaboration constraints are burdensome for developers, as they take hours or even days to resolve. From this empirical study, I have identified several common properties of collaboration constraints. This motivated a new specification language, called Fusion, that is tailored for specifying collaboration constraints in a practical way. The specification language uses relationships to describe the abstract associations between objects and allows developers to specify collaboration constraints as logical predicates of relationships. Since a relationship is an abstraction above the code, this allows developers to easily specify constraints that cross type and language boundaries. There are three variants of the analysis: a sound variant that has false positives but no false negatives, a complete variant that has false negatives but no false positives, and a pragmatic variant that attempts to balance this tradeoff. In this dissertation, I successfully used Fusion to specify and analyze constraints from examples found in the help forums of the ASP.NET and Spring frameworks. Additionally, I ran Fusion on DaCapo, a 1.5 MLOC DaCapo benchmark for program analysis, to show that Fusion is scalable and provides precise enough results for industry with low specification cost. This dissertation examines many tradeoffs: the tradeoffs of framework designs, the tradeoffs of specification precision, and the tradeoffs of program analysis results are all featured. A central theme of this work is that there is no single right solution to collaboration constraints; there are only solutions that work better for a particular instance of the problem.

A área de sistemas multiagentes é um promissor domínio tecnológico para uso em performances musicais interativas. Em trabalhos recentes, essa tecnologia vem sendo utilizada para resolver problemas musicais de escopo específico e alcance limitado, como a detecção de pulsação, a simulação de instrumentos e o acompanhamento musical automático. Neste trabalho, apresentamos uma taxonomia desses sistemas multiagentes musicais e uma arquitetura e implementação de um arcabouço computacional que generaliza os trabalhos anteriores e aborda problemas usuais como a sincronização em tempo real, a comunicação sonora e a mobilidade espacial dos agentes. Através do arcabouço, um usuário pode desenvolver um sistema multiagente musical focado em suas necessidades musicais, enquanto deixa grande parte dos problemas técnicos a cargo do arcabouço. Para validar o arcabouço, implementamos e discutimos dois estudos de caso que exploram diversos aspectos de um sistema multiagente musical, como a comunicação simbólica, a troca de áudio digital, o uso de trajetórias espaciais, a simulação acústica e conceitos de vida artificial, como códigos genéticos e reprodução, demonstrando a usabilidade do arcabouço em uma grande variedade de aplicações musicais. / Multiagent system technology is a promising new venue for interactive musical performance. In recent works, this technology has been tailored to solve specific, limited scope musical problems, such as pulse detection, instrument simulation or automatic accompaniment. In this work, we pre- sent a taxonomy of such musical multiagent systems, and an implementation of a computational framework that subsumes previous works and addresses general-interest low-level problems such as real-time synchronization, sound communication and spatial agent mobility. By using it, a user may develop a musical multiagent system focusing primarily in his/her musical needs, while leaving most of the technical problems to the framework. To validate this framework, we implemented and discussed two cases studies that explored several aspects of musical multiagent systems, such as symbolic and audio communication, spatial trajectories and acoustical simulation, and artificial life concepts, like genetic codes and reproduction, thus indicating the usefulness of this framework in a variety of musical applications.

The objective of this thesis is to address the challenges faced in sustaining efficient, high-performance and scalable Distributed Software Frameworks (DSFs), such as MapReduce, Hadoop, Dryad, and Pregel, for supporting data-intensive scientific and enterprise applications on emerging heterogeneous compute, storage and network infrastructure. Large DSF deployments in the cloud continue to grow both in size and number, given DSFs are cost-effective and easy to deploy. DSFs are becoming heterogeneous with the use of advanced hardware technologies and due to regular upgrades to the system. For instance, low-cost, power-efficient clusters that employ traditional servers along with specialized resources such as FPGAs, GPUs, powerPC, MIPS and ARM based embedded devices, and high-end server-on-chip solutions will drive future DSFs infrastructure. Similarly, high-throughput DSF storage is trending towards hybrid and tiered approaches that use large in-memory buffers, SSDs, etc., in addition to disks. However, the schedulers and resource managers of these DSFs assume the underlying hardware to be similar or homogeneous. Another problem faced in evolving applications is that they are typically complex workflows comprising of different kernels. The kernels can be diverse, e.g., compute-intensive processing followed by data-intensive visualization and each kernel will have a different affinity towards different hardware. Because of the inability of the DSFs to understand heterogeneity of the underlying hardware architecture and applications, existing resource managers cannot ensure appropriate resource-application match for better performance and resource usage. In this dissertation, we design, implement, and evaluate DerbyhatS, an application-characteristics-aware resource manager for DSFs, which predicts the performance of the application under different hardware configurations and dynamically manage compute and storage resources as per the application needs. We adopt a quantitative approach where we first study the detailed behavior of various Hadoop applications running on different hardware configurations and propose application-attuned dynamic system management in order to improve the resource-application match. We re-design the Hadoop Distributed File System (HDFS) into a multi-tiered storage system that seamlessly integrates heterogeneous storage technologies into the HDFS. We also propose data placement and retrieval policies to improve the utilization of the storage devices based on their characteristics such as I/O throughput and capacity. DerbyhatS workflow scheduler is an application-attuned workflow scheduler and is constituted by two components. phi-Sched coupled with epsilon-Sched manages the compute heterogeneity and DUX coupled with AptStore manages the storage substrate to exploit heterogeneity. DerbyhatS will help realize the full potential of the emerging infrastructure for DSFs, e.g., cloud data centers, by offering many advantages over the state of the art by ensuring application-attuned, dynamic heterogeneous resource management. / Ph. D.

There is no established standard for how Internet of Things devices are communicating with each other, every manufacturer uses their own proprietary software and protocols. This makes it difficult to ensure the best possible user experience. There are several projects that can become a standard for how devices discovering, communicating, networking etc. The goal for this thesis work was to compare such software frameworks in some areas and investigate how Inteno’s operating system Iopsys OS can be complemented by implement one of these frameworks. A literature study gave two candidates for the comparison, AllJoyn and Bonjour. The result of the comparison showed that AllJoyn was the most appropriate choice for Inteno to implement into their OS. AllJoyn was chosen because it has a potential to become an established standard and includes tools for easy implementation. To make a proof of concept, an AllJoyn application was created. The application together with a JavaScript web page, can show and control options for an AllJoyn Wi-Fi manager application and AllJoyn enabled lamps. / Det finns ingen etablerad standard för hur enheter inom Internet of Things kommunicerar med varandra. När alla tillverkare använder sina egna programvaror och protokoll, försvårar det möjligheten att skapa bästa möjliga användarvänlighet. Det finns flera projekt som utvecklar mjukvaruramverk, flera av dessa har möjligheten att bli en standard för hur enheter upptäcker, kommunicerar mm. Målet med examensarbete var att jämföra sådana mjukvaruramverk inom vissa områden samt att undersöka hur Intenos operativsystem Iopsys OS kan förbättras genom att implementera ett av dessa ramverk. En litteraturstudie gav två kandidater till jämförelsen, AllJoyn och Bonjour. Resultatet av jämförelsen visade att AllJoyn var det lämpligaste valet för Inteno att implementera i sitt operativsystem. AllJoyn valdes eftersom den har potential att bli en etablerad standard och innehåller verktyg för enkel implementering. För att bevisa konceptet, skapades ett AllJoyn-program. Programmet kan tillsammans med JavaScript generera en webbsida där användaren kan styra Wi-Fi inställningar och styra lampor via AllJoyn.

This thesis deals with the general problem of robot motion planning and control. It proposes the hypothesis that it should bepossible to create a generic software framework capable of dealing with all robot motion planning and control problems, independent of the robot being used, the task being solved, the workspace obstacles or the algorithms employed. The thesis work then consisted of identifying the requirements and creating a design and implementation of such a framework. This report motivates and documents the entire process. The framework developed was tested on two different robot arms under varying conditions. The testing method and results are also presented.The thesis concludes that the proposed hypothesis is indeed valid.

Distribution system analysis and design has experienced a gradual development over the past three decades. The once loosely assembled and largely ad hoc procedures have been progressing toward being well-organized. The increasing power of computers now allows for managing the large volumes of data and other obstacles inherent to distribution system studies. A variety of sophisticated optimization methods, which were impossible to conduct in the past, have been developed and successfully applied to distribution systems. Among the many procedures that deal with making decisions about the state and better operation of a distribution system, two decision support procedures will be addressed in this study: phase balancing and phase prediction. The former recommends re-phasing of single- and double-phase laterals in a radial distribution system in order to improve circuit loss while also maintaining/improving imbalances at various balance point locations. Phase balancing calculations are based on circuit loss information and current magnitudes that are calculated from a power flow solution. The phase balancing algorithm is designed to handle time-varying loads when evaluating phase moves that will result in improved circuit losses over all load points. Applied to radial distribution systems, the phase prediction algorithm attempts to predict the phases of single- and/or double phase laterals that have no phasing information previously recorded by the electric utility. In such an attempt, it uses available customer data and kW/kVar measurements taken at various locations in the system. It is shown that phase balancing is a special case of phase prediction. Building on the phase balancing and phase prediction design studies, this work introduces the concept of integrated design, an approach for coordinating the effects of various design calculations. Integrated design considers using results of multiple design applications rather than employing a single application for a distribution system in need of improvement relative to some system aspect. Also presented is a software architecture supporting integrated design. / Ph. D.

In der vorliegenden Arbeit wird die flexible Steuerungsarchitektur Apeca für Systeme der Robotik sowie der robotergestützten Fertigungstechnik vorgestellt. Dafür werden verschiedene Anforderungen identifiziert und innerhalb eines Entwurfs vereint. Ein Hauptaugenmerk des dabei entstandenen Konzeptes ist es, einen vereinfachten Engineeringprozess für den Steuerungsentwurf zu ermöglichen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven ermöglicht, die in Form atomarer Systemverhalten in einer speziellen Modulhierarchie eingesetzt werden. Hierzu erfolgt innerhalb der Steuerungsarchitektur eine Trennung zwischen einem funktionsorientierten verhaltensbasierten Modell zur hierarchischen sowie funktionell parallelen Ausführung von Aktionsprimitiven und einem ablauforientierten Modell zur aufgabenabhängigen Aktivierung derselben. Mit Hilfe eines Nutzerkonzepts werden diese Modelle verschiedenen Anwendern zugeordnet. Die objektorientierte Realisierung dieses Entwurfs ermöglicht die Verwendung und Synchronisation von mehreren Teilsystemen innerhalb einer Steuerung. In der Arbeit wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische Implementierung vorgestellt. Abschließend werden die Ergebnisse anhand verschiedener Demonstrationsszenarien präsentiert. / In this present work, the Apeca framework, a flexible control architecture for robotic systems, is introduced. The conceptual design combines different requirements identified in miscellaneous robotic control approaches. The main focus of the resulting concept is on a simplified engineering process for the controller design. This approach is supported by the use of atomic system behaviors, the so called action primitives, in a special module hierarchy. For this purpose a distinction between a functional behavior based system model with hierarchically and also parallelly executed action primitives and a sequential control system model with a task-dependent activation of the primitives is proposed. These models are assigned to different users through a distinct user concept. An object-oriented implementation of the proposed architecture allows the utilization and synchronisation of multiple (sub-)systems within one framework. In this work the proposed framework will be discussed, a prototypical implementation will be presented and results based on different experimental scenarios will be shown.