School of Computing Faculty Publications

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    Enhancing Urban Vehicular Navigation: Improving Classical Topological Map Matching Through Ray-Casting
    (Copernicus GmbH, 2023-09-06) Ragab, Hany; Givigi, Sidney; Noureldin, Aboelmagd
    Navigation is of paramount importance for land vehicles as it enables efficient and accurate movement from one location to another. Whether it is for personal navigation, commercial transportation, or emergency services, reliable navigation systems play a crucial role in ensuring safety, optimizing routes, and enhancing overall operational efficiency. This paper presents the integration of classical Topological Map Matching (TMM) with the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS), addressing the limitations of relying solely on road centerlines. A novel solution is proposed, leveraging the ray-casting algorithm to determine the predicted position's area and employing a two-stage kinematic update process for enhanced positioning accuracy. The solution's efficacy is evaluated through tests conducted on simulated GNSS outages within a road experiment conducted in the City of Toronto, demonstrating substantial improvements compared to the classical TMM approach. Notably, the proposed method achieved a considerable 82.33% reduction in RMS positioning error and a 33.71% improvement in maximum positioning error during the longest GNSS outage. By overcoming the limitations of classical TMM algorithms, this research contributes to the advancement of navigation and tracking systems, with future work focusing on practical implementations and optimization for diverse navigation scenarios.
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    Run-time Monitoring of a Rover: MDE Research with Open Source Software and Low-cost Hardware
    (CEUR-WS, 2016) Ahmadi, Reza; Hili, Nicolas; Jweda, Leo; Das, Nondini; Ganesan, Suchita; Dingel, Juergen
    This paper is an experience report on how we conducted research in run-time model monitoring with Open Source Software (OSS) and low-cost hardware. We demonstrate our experience using a Rover system case study, where we modelled its control logic, generated code, and collected traces of the running code to visually monitor the execution. We used open source tools throughout the project: Papyrus-RT for modeling and animation, LTTng for collecting execution traces, and Trace Compass for parsing the collected traces.
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    Incremental symbolic execution of evolving state machines
    (Institute of Electrical and Electronics Engineers, 2015-11-30) Dingel, Juergen; Khalil, Amal
    This paper introduces two complementary techniques, memoization-based and dependency-based incremental symbolic execution, that aim to optimize the analysis of state machine models that undergo change. We implement the two proposed techniques on IBM Rhapsody Statecharts and present some evaluation results.
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    State machine antipatterns for UML-RT
    (Institute of Electrical and Electronics Engineers, 2015-11-30) Dingel, Juergen; Das, Tuhin Kanti
    Software development guidelines are a set of rules which can help improve the quality of software. These rules are defined on the basis of experience gained by the software development community over time. Software antipatterns are a powerful and effective form of guidelines used for the identification of bad design choices and development practices that often lead to poor-quality software. This paper introduces a set of seven state machine antipatterns for the model-based development of real time embedded software systems. Each of these antipatterns is described with a pair of examples: one for the antipattern itself and a second one for improved, refactored solution.
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    Automated service composition via supervisory control theory
    (Institute of Electrical and Electronics Engineers, 2016-06-23) Dingel, Juergen; Atampore, Francis; Rudie, Karen
    Web services play a major role in electronic businesses and allow organizations to perform certain business activities in a distributed fashion. In some circumstances, a single service is not able to perform certain tasks and it becomes imperative to compose two or more services in order to complete a task. While approaches to tackle such a problem are known, the task of generating provably correct Web service compositions still remain challenging and complex. In this paper, we develop a supervisory control framework for automated composition of Web services. Labelled Transition Systems augmented with guards and data variables are used to represent a given set of Web service specifications. We model the interactions of services asynchronously and we use guards and data variables to allow us to express certain preconditions which are then propagated from the system requirements through the overall composite service. The objective of our framework is to synthesize a controller, which interacts with a given set of Web services through messages to guarantee that a given specification is satisfied. A key novelty of this work is the application of control theory to service-oriented computing and the incorporation of run-time input into the supervisor generation process.