Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup

This paper presents the map evaluation methodology developed for the Virtual Robots Rescue competition held as part of RoboCup. The procedure aims to evaluate the quality of maps produced by multi-robot systems with respect to a number of factors, including usability, exploration, annotation and other aspects relevant to robots and first responders. In addition to the design choices, we illustrate practical examples of maps and scores coming from the latest RoboCup contest, outlining strengths and weaknesses of our modus operandi. We also show how a benchmarking methodology developed for a simulation testbed effortlessly and faithfully transfers to maps built by a real robot. A number of conclusions may be derived from the experience reported in this paper and a thorough discussion is offered.     

Grammar Engineering Support for Precedence Rule Recovery and Compatibility Checking

A wide range of parser generators are used to generate parsers for programming languages. The grammar formalisms that come with parser generators provide different approaches for defining operator precedence. Some generators (e.g. YACC) support precedence declarations, others require the grammar to be unambiguous, thus encoding the precedence rules. Even if the grammar formalism provides precedence rules, a particular grammar might not use it. The result is grammar variants implementing the same language. For the C language, the GNU Compiler uses YACC with precedence rules, the C-Transformers uses SDF without priorities, while the SDF library does use priorities. For PHP, Zend uses YACC with precedence rules, whereas PHP-front uses SDF with priority and associativity declarations.The variance between grammars raises the question if the precedence rules of one grammar are compatible with those of another. This is usually not obvious, since some languages have complex precedence rules. Also, for some parser generators the semantics of precedence rules is defined operationally, which makes it hard to reason about their effect on the defined language. We present a method and tool for comparing the precedence rules of different grammars and parser generators. Although it is undecidable whether two grammars define the same language, this tool provides support for comparing and recovering precedence rules, which is especially useful for reliable migration of a grammar from one grammar formalism to another. We evaluate our method by the application to non-trivial mainstream programming languages, such as PHP and C.     

Standardized code quality benchmarking for improving software maintainability

We provide an overview of the approach developed by the Software Improvement Group for code analysis and quality consulting focused on software maintainability. The approach uses a standardized measurement model based on the ISO/IEC 9126 definition of maintainability and source code metrics. Procedural standardization in evaluation projects further enhances the comparability of results. Individual assessments are stored in a repository that allows any system at hand to be compared to the industry-wide state of the art in code quality and maintainability. When a minimum level of software maintainability is reached, the certification body of TüV Informationstechnik GmbH issues a Trusted Product Maintainability certificate for the software product.     

A Method for Conceptualising Legal Domains. An Example from the Dutch Unemployment Benefits Act

There has been much talk of the need to build intermediate models of the expertise required preparatory to constructing a knowledge-based system in the legal domain. Such models offer advantages for verification, validation, maintenance and reuse. As yet, however, few such models have been reported at a useful level of detail. In this paper we describe a method for conceptualising legal domains as well as its application to a substantial fragment of the Dutch Unemployment Benefits Act (DUBA).We first discuss the intermediate models (called expertise models), then present a three-stage method for their construction, drawing on the CommonKADS work in knowledge acquisition, conceptual models of statute law, and the KANT method of knowledge analysis. Subsequently, we describe how these techniques were applied to the DUBA, and provide detailed examples of the resulting model. Finally, conclusions on the framework and guidelines are given as well as means of recording and presenting the various design choices.     

Model checking rational agents

Agent-oriented programming techniques seem appropriate for developing systems that operate in complex, dynamic, and unpredictable environments. We aim to address this requirement by developing model-checking techniques for the (automatic or semiautomatic) verification of rational-agent systems written in a logic-based agent-oriented programming language. Typically, developers apply model-checking techniques to abstract models of a system rather than the system implementation. Although this is important for detecting design errors at an early stage, developers might still introduce errors during coding. In contrast, developers can directly apply our model-checking techniques to systems implemented in an agent-oriented programming language, automatically verifying agent systems without the usual gap between design and implementation. We developed our techniques for AgentSpeak, a rational-agent programming language based on the AgentSpeak (L) abstract agent-oriented programming language. AgentSpeak shares many features of the agent-oriented programming paradigm. Similarly, we've developed techniques for automatically translating AgentSpeak programs into the model specification language of existing model-checking systems. In this way, we reduce the problem of verifying that an AgentSpeak system has certain BDI logic properties to a conventional LTL model-checking problem.     

An information-theoretic methodology for the resolution of pure component spectra without prior information using spectroscopic measurements

The resolution of pure component spectra based on spectroscopic measurements from a reaction system is a challenging task for chemometric systems in the absence of a priori knowledge about the reaction components involved. A popular approach in the literature is based on constrained entropy minimization of the second-order derivative of the resolved pure component spectra. Using an analytical information theoretic framework, it can however be shown that minimization of this cost function is not sufficient to completely separate the underlying components from a set of mixture spectra. Instead, an augmented objective function derived from this analysis is proposed for complete minimization of the mutual information between separated components. The final optimization approach is further shown to be analog to independent component analysis (ICA), a signal processing technique successfully applied to biomedical and speech data to separate linear source mixtures in the absence of a priori information. The developed theoretical insights and proposed methodologies in this paper are illustrated in a simulation study on the separation of three component spectra based on absorbance data acquired from a first-order kinetic reaction system.     

Real-Time Natural Disasters Detection and Monitoring from Smart Earth Observation Satellite

Current remote sensing satellites with multispectral sensors capture high-resolution images and produce vast quantities of data. The size and volume of this information has dramatically increased in the last decade as sensor resolution and capabilities have significantly improved, without a similar improvement on the satellite system capacity to accommodate these changes. Remote sensing satellites currently operate on a “store and forward” paradigm, where data is stored on the satellite until the satellite is in view of the ground station. Low Earth orbit satellites may only see a ground station for a 10–15 min window per pass, in which time all the collected information must be telemetered to the ground. This process requires large and expensive onboard storage resources and places tremendous stress on communication channels. Hence, a complete image may not be successfully telemetered in one pass causing a significant delay between capture and analysis and limiting the benefits of these images. Smart satellites are more technologically advanced, require less ground station support and data storage, and are capable of transmitting required information quickly and easily to ground stations. With onboard reconfigurable data processing, these satellites have faster data product turnaround, less communication requirements, and provide more useful information. The high performance computing (HPC-I) payload on board the Australian satellite FedSat, launched in December 2002, is a demonstration device of the feasibility of reconfigurable computing technology in space. This device is small in size, requires low power, and has the processing capacity to handle large data volumes. Using this device in conjunction with a high-resolution imaging sensor, such as the bispectral infrared detection (BIRD) sensor, smart dedicated satellites become a feasible and cost effective solution to remote sensing needs. This paper elaborates on the system level design of a real-time fire observation system in the context of a smart satellite mission for detecting and monitoring natural disasters. The proposed system is built upon flight tested field programmable gate arrays based HPC-I technology, and would be capable of producing useful information about natural disasters directly broadcasted to interested parties within rapid timeframes. The algorithms for onboard real-time detection of direction, intensity, and location of fires are discussed, and reliable algorithms for detecting and verifying these fires using smoke plume detection are presented. Further work is described including fire-front analysis and the tracking of fire movement.     

Power Handling and Responsivity of Submicron Wide Superconducting Coplanar Waveguide Resonators

The sensitivity of microwave kinetic inductance detectors (MKIDs) based on coplanar waveguides (CPWs) needs to be improved by at least an order of magnitude to satisfy the requirements for space-based terahertz astronomy. Our aim is to investigate if this can be achieved by reducing the width of the CPW to much below what has typically been made using optical lithography (>1?μm). CPW resonators with a central line width as narrow as 300?nm were made in NbTiN using electron beam lithography and reactive ion etching. In a systematic study of quarter-wave CPW resonators with varying widths it is shown that the behavior of responsivity, noise and power handling as a function of width continues down to 300?nm. This encourages the development of narrow KIDs using Al in order to improve their sensitivity.