Monitoring with behavior view diagrams for debugging
UML sequence diagrams are widely used during requirements analysis and design for specifying the expected message exchanges among a set of objects in various scenarios for the program to perform a certain task. In this paper, we present the behavior view diagrams, a type of extended sequence diagrams, to facilitate execution monitoring during debugging. Using a behavior view diagram, software developers can precisely specify the runtime objects whose behaviors will be monitored during debugging. Software developers can also specify the important message exchanges to be observed among these objects during the progress of various scenarios, and may further define the monitoring actions to be performed for inspecting the program state when a message exchange is observed. We also present a debugger that can automatically monitor the program execution using the information specified in a behavior view diagram. Through this monitoring, the debugger can not only check whether the scenarios are progressed as intended, but also check whether the actions performed by the program have the the desired effects on the program states. Therefore, it will be useful for detecting and localizing bugs.

title: Testing Scenario Implementation with Behavior Contracts
abstract: This paper presents behavior contracts as a new assertion mechanism and a tool that uses such contracts to support the testing of object-oriented (OO) systems. A behavior contract models how the scenarios for performing a designated task are expected to be implemented. Based on this contract, our tool can automatically monitor the program execution for checking important properties related to these scenarios. This capability can help testers to determine whether the scenarios have been implemented correctly. Our tool can also collect test coverage information w.r.t. the scenarios modeled by a behavior contract. Such information can be used to direct the testing efforts towards the less-covered scenarios, and to determine whether the implementation of these scenarios has been adequately tested. Therefore, using this tool should improve both the efficiency and effectiveness of testing OO systems

title: Test-Driven Component Integration with UML 2.0 Testing and Monitoring Profile
abstract: Test-driven development (TDD) is a software development methodology for achieving high reliability. However, the practice of TDD at the integration level is rare. In this paper, we propose a test-driven component integration approach with the support of UML 2.0 Testing and Monitoring Profile (U2TMP) that is also proposed in this paper. In our approach, automated integration-level test cases are specified using U2TMP before writing the glue-code that integrates components. U2TMP enhances UML 2.0 diagrams for specifying how test scenarios should be set up and how the integrated components are expected to interact under these scenarios. Test cases written in U2TMP can be automatically transformed into test artifacts that setup the test environment, generate test stimuli, and monitor the component interactions at runtime. These test cases serve as a guideline for writing the glue-code and a regression test- bed. With this approach, the software developers may produce glue-code of high reliability.

title: Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat
abstract: In this paper we present the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with 20 joint-space Degrees-of-Freedom (DoFs), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such as the throat. The telerobotic slave uses novel continuum robots that use multiple super-elastic backbones for actuation and structural integrity. We present the kinematics of the telesurgical slave and methods for actuation compensation to cancel the effects of backlash, friction, and flexibility of the actuation lines. A method for actuation compensation is presented in order to overcome uncertainties of modeling, friction, and backlash. This method uses a tiered hierarchy of two novel approaches of actuation compensation for remotely actuated snake-like robots. The tiered approach for actuation compensation uses compensation in both joint space and configuration space of the continuum robots. These hybrid actuation compensation schemes use intrinsic model information and external data through a recursive linear estimation algorithm and involve compensation using configuration space and joint space variables. Experimental results validate the ability of our integrated telemanipulation system through experiments of suturing and knot tying in confined spaces.

title: 2.5D Visualisation of Overlapping Biological Networks
abstract: Biological data is often structured in the form of complex interconnected networks such as protein interaction and metabolic networks. In this paper, we investigate a new problem of visualising such overlapping biological networks. Two networks overlap if they share some nodes and edges. We present an approach for constructing visualisations of two overlapping networks, based on a restricted three dimensional representation. More specifically, we use three parallel two dimensional planes placed in three dimensions to represent overlapping networks: one for each network (the top and the bottom planes) and one for the overlapping part (in the middle plane). Our method aims to achieve both drawing aesthetics (or conventions) for each individual network, and highlighting the intersection part by them. Using three biological datasets, we evaluate our visualisation design with the aim to test whether overlapping networks can support the visual analysis of heterogeneous and yet interconnected networks.

title: Feature-aligned shape texturing
abstract: The essence of a 3D shape can often be well captured by its salient feature curves. In this paper, we explore the use of salient curves in synthesizing intuitive, shape-revealing textures on surfaces. Our texture synthesis is guided by two principles: matching the direction of the texture patterns to those of the salient curves, and aligning the prominent feature lines in the texture to the salient curves exactly. We have observed that textures synthesized by these principles not only fit naturally to the surface geometry, but also visually reveal, even reinforce, the shape's essential characteristics. We call these feature-aligned shape texturing. Our technique is fully automatic, and introduces two novel technical components in vector-field-guided texture synthesis: an algorithm that orients the salient curves on a surface for constrained vector field generation, and a feature-to-feature texture optimization.

title: Seeing more than the graph: evaluation of multivariate graph visualization methods
abstract: Many real-world networks are multivariate, i.e., they have attributes associated with nodes and/or edges. Examples include social networks whose nodes represent people and edges represent relationships. There is usually information about each person (such as name, age, and gender) and the relationship (such type, duration, and strength). Besides common graph analysis tasks (such as identifying the most influential or structurally important nodes), there are more complex analyses for multivariate networks. One of these is the multivariate graph clustering, i.e., identifying clusters formed by nodes that have similar attributes and are close to each other in terms of graph distance. For instance, in social network analysis, it is interesting to sociologists whether or not people with similar characteristics (node attributes) are also connected to each other. Currently there are very few visualization methods available for such analysis.
 Graph and multivariate visualization have been well studied separately in the literature. Herman et al. summarized the recent work on graph visualization , and Wong and Bergeron covered the development in multivariate visualization . However, there is relatively less work available on multivariate network visualization. Two types of approaches are commonly used. The first one is the mapping approach, which maps attributes to visual elements of a node or edge. A simple example is to map one attribute to node size and another to node color . A more advanced mapping approach uses glyphs to represent node or edge attributes. One such example is to use the length and width of a rectangle node glyph to represent two node attributes . The second one is the 2.5D approach: it uses the third dimension to present the multivariate information, while the graph is shown on a 2D plane. Examples include the recently proposed "GraphScape" , which adopts a landscape metaphor: each attribute is represented by a two-and-a-half- dimensional surface, whose height indicates its value.
 Each approach has its strength and weakness. The mapping approach is effective of showing numerical value using visual element such as size, but it can be difficult to compare the value of attributes represented by different elements such as size and color. The problem is alleviated by a carefully designed glyph, but visual complexity increases quickly as the number of attributes that a glyph needs to represent grows. The 2.5D approach is good at showing the distribution of attribute values over the network, but the attribute surface could introduce occlusion and affect the visibility of underlying network.
 In this paper, we present a study evaluating the effectiveness of these two approaches for different analysis tasks. We compare the performance of mapping and 2.5D approach in a controlled lab environment. We included both simple tasks (such as identifying nodes with the largest attribute value) and complex tasks (such as multivariate graph clustering). The performance is measured both in terms of accuracy and completion time. The results indicate that statistically mapping approach performs better for the simple tasks, while the 2.5D approach is favored in the complex task. The outcomes from this study provide some guidelines for the design of effective multivariate graph visualization for different analysis tasks.

title: Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery
abstract: This paper presents the task specifications for designing a novel Insertable Robotic Effectors Platform (IREP) with integrated stereo vision and surgical intervention tools for Single Port Access Surgery (SPAS). This design provides a compact deployable mechanical architecture that may be inserted through a single Ø15 mm access port. Dexterous surgical intervention and stereo vision are achieved via the use of two snake-like continuum robots and two controllable CCD cameras. Simulations and dexterity evaluation of our proposed design are compared to several design alternatives with different kinematic arrangements. Results of these simulations show that dexterity is improved by using an independent revolute joint at the tip of a continuum robot instead of achieving distal rotation by transmission of rotation about the backbone of the continuum robot. Further, it is shown that designs with two robotic continuum robots as surgical arms have diminished dexterity if the bases of these arms are close to each other. This result justifies our design and points to ways of improving the performance of existing designs that use continuum robots as surgical arms.