13 KiB
13 KiB
type:: REVIEWS/PhDThesis tags:: REVIEWS/PhDThesis year:: 2024 venue:: full-title:: Process-driven Development and Analysis of Multi-Robot Systems date-start:: 30-03-2024 - 22:16 date-submitted:: external-links:: status:: DONE deadline:: 02-05-2024 file:: @PhD_Thesis__Sara_Pettinari.pdf parent:: todoist:: https://app.todoist.com/app/task/ph-d-thesis-sara-pettinari-7845260102
- ### [[Highlights]]
-
- # Annotazioni
- (11/5/2024, 14:47:00)
- - “considering robots’ behavior at a high level allows for conceptualizing their missions as process models.” ([Pettinari, p. iii](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=5&annotation=SCIUY42S)) #a28ae5
- - “Business Process Management (BPM) is the reference discipline that enables their usage to describe the overall workflow of a system, including its design, enactment, monitoring, analysis, and refinement.” ([Pettinari, p. iii](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=5&annotation=TWKBRHUK)) #a28ae5
- - “designing processes to model the robotic mission, facilitating its execution according to the planned sequence” ([Pettinari, p. iii](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=5&annotation=X4WKNJM6)) #5fb236
- - “following research objectives” ([Pettinari, p. 6](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=24&annotation=DLTNU9UI)) #f0ff00
- *What's your technical contribution then?*
- - “FaMe framework.” ([Pettinari, p. 7](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=25&annotation=PDBSLNEU)) #f0ff00
- *This should be mentioned also earlier in the document.*
- - “Concluding Remarks.” ([Pettinari, p. 7](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=25&annotation=IGIWLS65)) #f0ff00
- *You conclude the thesis without mentioning evaluation activities that you might have done to evaluate both FAME and TALE.*
- - “support code reuse in robotics research” ([Pettinari, p. 9](zotero://select/library/items/NNN6P5JG)) #ff4400
- - “Fig.2.1” ([Pettinari, p. 10](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=28&annotation=93JYD2Z4)) #ff4400
- - “BPMN allows to design of different kinds” ([Pettinari, p. 14](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=32&annotation=MLQP7DE7)) #ff4400
- - “Process discovery techniques take an event log and create a process model that adequately describes the underlying process. Nevertheless, the correctness of the result depends both on the log completeness and on the used discovery algorithm.” ([Pettinari, p. 19](zotero://select/library/items/NNN6P5JG)) #00b036
- - “Figure 2.13: EKG example” ([Pettinari, p. 21](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=39&annotation=V9TB5QTA)) #f0ff00
- *A conclusion section is missing.*
- - “this thesis considers as a running scenario the application of an MRS in an agricultural field aiming to improve crop productivity.” ([Pettinari, p. 23](zotero://select/library/items/NNN6P5JG)) #ff4400
- - “other frameworks.” ([Pettinari, p. 23](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=41&annotation=LJINJVRJ)) #f0ff00
- *you mean any framework , right?*
- - “existing model-driven approaches for robotic systems is provided.” ([Pettinari, p. 29](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=47&annotation=YGV86MQS)) #f0ff00
- *I would have presented them earlier to highlight the limitations of existing approaches and thus to motivate the need for your proposal.*
- - “executable MRS collaboration diagram used in the following phase to command each robotic behavior, thus guaranteeing a distributed execution of the MRS.” ([Pettinari, p. 30](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=48&annotation=XRFW4V6E)) #f0ff00
- *DISTRIBUTED EXECUTION... THIS IS IMPORTANT. CHECK HOW SUCH A DISTRIBUTION IS SUPPORTED.*
- - “, minimize redundancy, and reduce the possibility of errors. By integrating the concept of building blocks, the FaMe framework keeps consistency with the characteristics of modularity and reusability of the ROS.” ([Pettinari, p. 34](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=52&annotation=MSUUCKYS)) #f0ff00
- *How the guidelines above are enforced?*
- - “the diagram with additional information. This information is mapped in each configured BPMN element as extension elements. Indeed, the extension element is part of the BPMN metamodel [62, 8.2.3]” ([Pettinari, p. 34](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=52&annotation=39LNBK7S)) #f0ff00
- *What's the tool you have used to enforce this?*
- - “predefined values or with dynamically updated values in the form of $tvariable_idu.” ([Pettinari, p. 34](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=52&annotation=YTFXIPMB)) #f0ff00
- *Where?*
- - “Once these configurations have been done, the BPMN collaboration can be deployed and the MRS executed.” ([Pettinari, p. 35](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=53&annotation=BR94SRZA)) #f0ff00
- *Again, the technical details of the execution environment are not clear here.*
- - “architecture of ROS, where a robot is a collection of nodes, a node implementing a BPMN engine has been incorporated into the robots. Each of these nodes receives the pool” ([Pettinari, p. 36](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=54&annotation=NACQE8UM)) #f0ff00
- *What are the technical details to execute bpmn engines in synergy with ros?*
- - “Gazebo” ([Pettinari, p. 36](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=54&annotation=EUMAHHMH)) #f0ff00
- *I think it's the first time it is mentioned.*
- - “new” ([Pettinari, p. 36](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=54&annotation=KI49P3AV)) #f0ff00
- - “process at run-time,” ([Pettinari, p. 36](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=54&annotation=N9WGH779)) #f0ff00
- *New process at runtime? I'm not sure this possibility has been discussed previously. It is important to explain how this works.*
- - “Policy compatibility for” ([Pettinari, p. 37](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=55&annotation=ACSAUKZZ)) #f0ff00
- - “the reliability parameter” ([Pettinari, p. 37](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=55&annotation=HTS7X9HR)) #f0ff00
- *What's their meaning?*
- - “comply with the standards set by ROS for effective communication.” ([Pettinari, p. 38](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=56&annotation=ESBZUEZW)) #f0ff00
- *I can understand the meaning and the effect, however concrete examples (even by referring to the running example) is needed here.*
- - “them. This effort could be mitigated using a standard modeling language, like the BPMN notation used” ([Pettinari, p. 39](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=57&annotation=FCGLW6IV)) #f0ff00
- *Bpmn still needs to be learned!!!*
- - “Even if this means that the designers should learn the guidelines, the effort to learn them is not high.” ([Pettinari, p. 39](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=57&annotation=6JNMU4BW)) #f0ff00
- *This needs to be proved!*
- - “disciplined arrangements of BPMN elements,” ([Pettinari, p. 39](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=57&annotation=VUIZZTPP)) #f0ff00
- *If they are not enforced by the tool, then some threats arise related to the correct use of the approach.*
- - “Table 4.2: Features comparison of the related works” ([Pettinari, p. 41](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=59&annotation=L4JK6IZL)) #f0ff00
- *This analysis should come before presenting fame with the aim of analysing the short coming of existing approaches and motivating a novel technique.
- How would the work for the explanatory examples? What are their limitations?*
- - “5.1.” ([Pettinari, p. 45](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=63&annotation=R5TAESIF)) #f0ff00
- - “JavaScript as the predefined language for script tasks, while allowing language customization” ([Pettinari, p. 46](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=64&annotation=2CDMANFT)) #f0ff00
- *This facility needs to be elaborated a bit. For instance you should discuss the scope of variables, the environment where such JavaScript code will be executed and more importantly, how to test this code which can do potentially anything.*
- - “, which allows connections only when the publisher’s policies align with the subscriber’s policies. Whenever there is a change in the QoS policy of a signal node, the modeler triggers the rule engine mechanism to evaluate the updated parameters.” ([Pettinari, p. 48](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=66&annotation=LT4937J9)) #f0ff00
- *So this means that at runtime ros entities can change their quality and the modeler has to do something via the modeling tool?*
- - “Figure 5.12: Update Closest script task configuration” ([Pettinari, p. 56](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=74&annotation=3XIC39Q4)) #f0ff00
- *This limit the support of the motivation related to the benefit of using bpmn as a well known language.*
- - “Enactment” ([Pettinari, p. 57](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=75&annotation=PLH2H3KS)) #f0ff00
- *It's important to stress somewhere the difference of distributed vs decentralised executions to highlights the benefits and the strengths of the proposed approach.*
- - “Analysis” ([Pettinari, p. 74](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=92&annotation=TFIQDQL5)) #f0ff00
- *Who elicited the requirements of this analysis. In other words, the three analisi you have devised and discussed have been defined to satisfy some user requirements or for some other reason?*
- - “flow:” ([Pettinari, p. 74](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=92&annotation=9EDNPC7T)) #f0ff00
- - “Related Works” ([Pettinari, p. 76](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=94&annotation=EJH9QLPF)) #f0ff00
- *As for the FAME approach, I would present the related work section, earlier in the chapter to distill the limitations of existing approaches. The need and relevance of process mining have also to be pushed more.*
- - “Enhancement” ([Pettinari, p. 84](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=102&annotation=AS32UL7H)) #f0ff00
- *What's the goal fir this? Is it application or domain specific?*
- - “extract activity-centric robotic event logs at the desired level of granularity and related to multiple perspectives of interest. The” ([Pettinari, p. 96](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=114&annotation=TCKAC4K5)) #f0ff00
- *Where is the goal taken into account?*
- - “merging the top-down and bottom-up approaches. Specifically, the BPMN collaboration diagram is used to guide the behavior of the MRS. During the system execution, exploiting the Tale methodology, event logs are generated to perform process mining-based system analysis. Finally, based on the insights provided during the analysis, a process adaptation step, supported by the MRS designer supervision, can be performed to re-design the model defining the mission and enact the improved MRS.” ([Pettinari, p. 100](zotero://select/library/items/NNN6P5JG)) ([pdf](zotero://open-pdf/library/items/8E6W8CHB?page=118&annotation=87YHY687)) #f0ff00
- *This is related to models@runtime field, which is not mentioned in the thesis.*
- ### [[Comments]]
- ### [[REVIEWS/Notes]]
- ### ❓️Questions
- {{query (and [[question]] [[PhD_Thesis__Sara_Pettinari]] )[[question]]}}
query-table:: true
query-properties:: [:block]