Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional Neural Network to predict the objects' graspable areas. We named our approach Res-U-Net since the architecture of the network is designed based on U-Net structure and residual network-styled blocks. It devised to plan 6-DOF grasps for any desired object, be efficient to compute and use, and be robust against varying point cloud density and Gaussian noise. We have performed extensive experiments to assess the performance of the proposed approach concerning graspable part detection, grasp success rate, and robustness to varying point cloud density and Gaussian noise. Experiments validate the promising performance of the proposed architecture in all aspects. A video showing the performance of our approach in the simulation environment can be found at http://youtu.be/5_yAJCc8owoGroningen, The Netherlands. {yikun.li, l.r.b.schomaker, hamidreza.kasaei}@rug.nlWe are grateful to the NVIDIA corporation for supporting our research through the NVIDIA GPU Grant Program.

Technical debt denotes shortcuts taken during software development, mostly for the sake of expedience. When such shortcuts are admitted explicitly by developers (e.g., writing a TODO/Fixme comment), they are termed as Self-Admitted Technical Debt or SATD. There has been a fair amount of work studying SATD management in Open Source projects, but SATD in industry is relatively unexplored. At the same time, there is no work focusing on developers' perspectives towards SATD and its management. To address this, we conducted an exploratory case study in cooperation with an industrial partner to study how they think of SATD and how they manage it. Specifically, we collected data by identifying and characterizing SATD in different sources (issues, source code comments, and commits) and carried out a series of interviews with 12 software practitioners. The results show: 1) the core characteristics of SATD in industrial projects; 2) developers' attitudes towards identified SATD and statistics; 3) triggers for practitioners to introduce and repay SATD; 4) relations between SATD in different sources; 5) practices used to manage SATD; 6) challenges and tooling ideas for SATD management.

Technical debt refers to taking shortcuts to achieve short-term goals while sacrificing the long-term maintainability and evolvability of software systems. A large part of technical debt is explicitly reported by the developers themselves; this is commonly referred to as Self-Admitted Technical Debt or SATD. Previous work has focused on identifying SATD from source code comments and issue trackers. However, there are no approaches available for automatically identifying SATD from other sources such as commit messages and pull requests, or by combining multiple sources. Therefore, we propose and evaluate an approach for automated SATD identification that integrates four sources: source code comments, commit messages, pull requests, and issue tracking systems. Our findings show that our approach outperforms baseline approaches and achieves an average F1-score of 0.611 when detecting four types of SATD (i.e., code/design debt, requirement debt, documentation debt, and test debt) from the four aforementioned sources. Thereafter, we analyze 23.6M code comments, 1.3M commit messages, 3.7M issue sections, and 1.7M pull request sections to characterize SATD in 103 open-source projects. Furthermore, we investigate the SATD keywords and relations between SATD in different sources. The findings indicate, among others, that: 1) SATD is evenly spread among all sources; 2) issues and pull requests are the two most similar sources regarding the number of shared SATD keywords, followed by commit messages, and then followed by code comments; 3) there are four kinds of relations between SATD items in the different sources.