01888nas a2200145   4500008004100000245010500041210006900146260000900215300001000224520140100234100001901635700002301654700001901677856004601696       2014                        eng d00aGenerating Model Transformations for Mending Dynamic Constraint Violations in Cyber Physical Systems0 aGenerating Model Transformations for Mending Dynamic Constraint   c2014  a35-403 a<p>Cyber physical systems by definition involve design constraints addressing the computation and communication necessary to control physical systems. These systems have been modeled using domain specific modeling languages, but some limitations exist in the continued application of such a modeling approach to more complex, or safety-critical, systems. Specifically, it is well known how to formulate constraints in a domain-specific modeling language in order to prevent users from building invalid structures, but existing constraint-based techniques do not take into consideration design requirements that may require analysis in the physical domain (i.e. dynamic constraints). Those analysis results, when interpreted by a domain expert, can inform changes to the model: unfortunately, this process does not scale. This paper presents an approach to integrating dynamic constraints that cannot be enforced using structural model constraints. The technique uses expert blocks to analyze systems and generates model transformations specific to the system using the results of those analyses to fix constraint violations. The paper describes a Dynamic Constraint Feedback (DCF) methodology for integrating this technique into existing systems from a generic perspective. Specific examples in this paper are derived from the domain of data adaptable reconfigurable embedded systems (DARES).</p>1 aWhitsitt, Sean1 aSprinkle, Jonathan1 aLysecky, Roman  uhttp://dx.doi.org/10.1145/2688447.268845401875nas a2200205   4500008004100000245006800041210006500109260002600174300001000200520125300210653002401463653002001487100002001507700001701527700001601544700002101560700001901581700002301600856004601623       2013                        eng d00aGenerating a {ROS/JAUS} Bridge for an Autonomous Ground Vehicle0 aGenerating a ROSJAUS Bridge for an Autonomous Ground Vehicle  aIndianapolis, INbACM  a13-183 a<p>Robotic systems have truly benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboticists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that are not blessed with such a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems, and previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application’s specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.</p>
10aautonomous vehicles10aCode Generation1 aMorley, Patrick1 aWarren, Alex1 aRabb, Ethan1 aBunting, Matthew1 aWhitsitt, Sean1 aSprinkle, Jonathan  uhttp://dx.doi.org/10.1145/2541928.2541931