Mining the ROS ecosystem for Green Architectural Tactics in Robotics and an Empirical Evaluation

Malavolta, Ivano; Chinnappan, Katerina; Swanborn, Stan; Lewis, Grace A.; Lago, Patricia

doi:10.1109/msr52588.2021.00042

Cited by 8 publications

(4 citation statements)

References 52 publications

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“…• Architecture pattern configuration seeks practical guidance on how to configure a specific architecture pattern (e.g., Model View Controller and hexagonal architecture patterns) when designing an application to achieve certain requirements (e.g., functional requirements). For example, in this question 13 , a developer asked about how to configure an application that conforms to a Hexagonal architecture pattern by stating that: "I'm looking for some guidance or best practices for how to configure and structure an application which conforms to Hexagonal architecture that supports multiple (driver) adapters simultaneously (...)".…”

Section: Categories Of Architecture Related Questions (Rq1)mentioning

confidence: 99%

“…In another work, Soliman et al [11] conducted an empirical study with 50 software engineers, who used Google to make design decisions using Attribute Driven Design [12], and they determined how effective web search engines are to find relevant architectural information from various sources (including SO) and to capture AK. Malavolta et al [13] extracted data from five open source software repositories (including SO), and mined architectural tactics for energyefficiency applied by practitioners in real robotics projects. Tian et al [14] studied SO users' conception of architectural smells using SO posts.…”

Section: Introductionmentioning

confidence: 99%

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Characterizing Architecture Related Posts and Their Usefulness in Stack Overflow

Dieu¹,

Peng²,

Shahin³

et al. 2023

Preprint

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Context: Stack Overflow (SO) has won the intention from software engineers (e.g., architects) to learn, practice, and utilize development knowledge, such as Architectural Knowledge (AK). But little is known about AK communicated in SO, which is a type of high-level but important knowledge in development.Objective: This study aims to investigate the AK in SO posts in terms of their categories and characteristics as well as their usefulness from the point of view of SO users. Method:We conducted an exploratory study by qualitatively analyzing a statistically representative sample of 968 Architecture Related Posts (ARPs) from SO. Results:The main findings are: (1) architecture related questions can be classified into 9 core categories, in which "architecture configuration" is the most common category, followed by the "architecture decision" category, and (2) architecture related questions that provide clear descriptions together with architectural diagrams increase their likelihood of getting more than one answer, while poorly structured architecture questions tend to only get one answer. Conclusions:Our findings suggest that future research can focus on enabling automated approaches and tools that could facilitate the search and (re)use of AK in SO. SO users can refer to our proposed guidelines to compose architecture related questions with the likelihood of getting more responses in SO.

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Section: Categories Of Architecture Related Questions (Rq1)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Characterizing Architecture Related Posts and Their Usefulness in Stack Overflow

Dieu¹,

Peng²,

Shahin³

et al. 2023

Preprint

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show abstract

“…Some other researchers 63,64 have analyzed energy efficiency for software in robots. For example, Albonico et al 64 analyzed 527 energyrelated points that are mined from various open source repositories to understand the common reasons for occurrence of energy-related issues in the software and how they can be potentially mitigated.…”

Section: Energy Conservation In Systemsmentioning

confidence: 99%

Identifying safety issues from energy conservation requirements

Madala¹,

Tenbergen

2022

J Software Evolu Process

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In cyber-physical systems such as robots and automated vehicles that rely heavily on batteries, safety, and energy conservation can result conflicting requirements when not considered together. In systems engineering, the development begins at a concept phase where we have high-level information of different components of the system. During the concept phase, we perform hazard analysis and risk assessment, define safety goals, and derive safety requirements. This means requirement engineering occurs at the end of the concept phase. However, energy conservation recommendations are not taken into consideration until the detailed design with specific hardware and software is known. Hence, it is possible to recommend energy conservation behaviors that can compromise system's safety. If we perform a trade-off analysis between safety and energy conservation at a concept phase, we can propose various design alternatives and choose the best one that offers a safe and energy saving architecture. To achieve this goal, we propose an approach for identifying safety issues that can be caused by energy conservation recommendations. To evaluate the effectiveness of our approach, we performed an empirical study on four robotic systems. Our results show that we can find energy conservation recommendations that can compromise safety at a concept phase.

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“…This phenomenon can be related to the fact that robots, likewise other battery-based devices, need to be aware of their battery conditions, such as their charge and remaining operational time. Autonomous robots also self-adapt based on battery information, where their behavior is updated in order to save energy when the battery level is low, or even favor processing when the battery level is not a constraint [30]. Therefore, monitoring and tracking energy parameters is a key element when dealing with energy efficiency.…”

Section: Main Solutions For Energy-related Issues (Rq3)mentioning

confidence: 99%

Mining Energy-Related Practices in Robotics Software

Albonico¹,

Malavolta²,

Pinto³

et al. 2021

Preprint

Self Cite

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Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots. Unfortunately, robotics software consumes significant amounts of energy. Moreover, robots are often battery-driven, meaning that even a small energy improvement can help reduce its energy footprint and increase its autonomy and user experience.In this paper, we study the Robot Operating System (ROS) ecosystem, the de-facto standard for developing and prototyping robotics software. We analyze 527 energy-related data points (including commits, pull-requests and issues on ROS-related repositories, ROS-related questions on StackOverflow, ROS Discourse, ROS Answers and the official ROS Wiki).Our results include a quantification of the interest of roboticists on software energy efficiency, 10 recurrent causes and 14 solutions of energy-related issues, and their implied trade-offs with respect to other quality attributes. Those contributions support roboticists and researchers towards having energyefficient software in future robotics projects.1 We use the term data point as the superclass of any type of mined item, such as a commit message, a GitHub issue, or a discussion on StackOverflow.

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Mining the ROS ecosystem for Green Architectural Tactics in Robotics and an Empirical Evaluation

Cited by 8 publications

References 52 publications

Characterizing Architecture Related Posts and Their Usefulness in Stack Overflow

Characterizing Architecture Related Posts and Their Usefulness in Stack Overflow

Identifying safety issues from energy conservation requirements

Mining Energy-Related Practices in Robotics Software

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