Abstract
The Robot Operating System (ROS) is one of the most popular open source robotic frameworks, and has contributed significantly to the fast development of robotics. Even though ROS provides many ready-made components, a robotic system is inherently complex, in particular regarding the architecture and orchestration of such components. Availability and analysis of a system's architecture at compile time is fundamental to ease comprehension and development of higher-quality software. However, ROS developers have to overcome this complexity relying mostly on testing and runtime visualisers. This work aims to enhance static-time support by proposing, firstly, a metamodel to describe the software architecture of ROS systems (the ROS Computation Graph) and, secondly, model extraction and visualisation tools for such architectural models. The provided tools allow users to specify custom-made queries over these models, enabling the static verification of relevant properties that had to be (manually) checked at runtime before.

Abstract
Formal modeling and automatic analysis are essential to achieve a trustworthy software design prior to its implementation. Alloy and its Analyzer are a popular language and tool for this task. Frequently, rather than a single software artifact, the goal is to develop a full software product line (SPL) with many variants supporting different features. Ideally, software design languages and tools should provide support for analyzing all such variants (e.g., by helping pinpoint combinations of features that could break a property), but that is not currently the case. Even when developing a single artifact, support for multi-variant analysis is desirable to explore design alternatives. Several techniques have been proposed to simplify the implementation of SPLs. One such technique is to use background colors to identify the fragments of code associated with each feature. In this paper we propose to use that same technique for formal design, showing how to add support for features and background colors to Alloy and its Analyzer, thus easing the analysis of software design variants. Some illustrative examples and evaluation results are presented, showing the benefits and efficiency of the implemented technique.

Abstract
Most model checkers provide a useful simulation mode, that allows users to explore the set of possible behaviours by interactively picking at each state which event to execute next. Traditionally this simulation mode cannot take into consideration additional temporal logic constraints, such as arbitrary fairness restrictions, substantially reducing its usability for debugging the modelled system behaviour. Similarly, when a specification is false, even if all its counter-examples combined also form a set of behaviours, most model checkers only present one of them to the user, providing little or no mechanism to explore alternatives. In this paper, we present a simple on-the-fly verification technique to allow the user to explore the behaviours that satisfy an arbitrary temporal logic specification, with an interactive process akin to simulation. This technique enables a unified interface for simulating the modelled system and exploring its counter-examples. The technique is formalised in the framework of state/event linear temporal logic and a proof of concept was implemented in an event-based variant of the Electrum framework.

Abstract
Privacy sensitive applications that store confidential information such as personal identifiable data or medical records have strict security concerns. These concerns hinder the adoption of the cloud. With cloud providers under the constant threat of malicious attacks, a single successful breach is sufficient to exploit any valuable information and disclose sensitive data. Existing privacy-aware databases mitigate some of these concerns, but sill leak critical information that can potently compromise the entire system's security. This paper proposes d'Artagnan, the first privacy-aware multi-cloud NoSQL database framework that renders database leaks worthless. The framework stores data as encrypted secrets in multiple clouds such that i) a single data breach cannot break the database's confidentiality and ii) queries are processed on the server-side without leaking any sensitive information. d'Artagnan is evaluated with industry-standard benchmark on market-leading cloud providers.

Abstract
When dealing with electrocardiography (ECG) the main focus relies on the classification of the heart's electric activity and deep learning has been proving its value over the years classifying the heartbeats, exhibiting great performance when doing so. Following these assumptions, we propose a deep learning model based on a ResNet architecture with convolutional ID layers to classes the beats into one of the 4 classes: normal, atrial premature contraction, premature ventricular contraction and others. Experimental results with MIT-BIH Arrhythmia Database confirmed that the model is able to perform well, obtaining an accuracy of 96% when using stochastic gradient descent (SGD) and 83% when using adaptive moment estimation (Adam), SGD also obtained F1-scores over 90% for the four classes proposed. A larger dataset was created and tested as unforeseen data for the trained model, proving that new tests should be done to improve the accuracy of it.

Abstract
In this paper, a daily plan model to the irrigation of a crop field using optimal control was developed. This daily plan model have in consideration: weather data (temperatures, rainfall, wind speed), the type of crop, the location, humidity in the soil at the initial time, the type of soil and the type of irrigation. The aim is to minimise the water used in the irrigation systems ensuring that the field crop is kept in a good state of preservation. MATLAB was used to develop our mathematical model and obtain its output. Its results were compared with experimental ones obtained from a real farm field of grass in Portugal. This comparison not only allowed us to validate our model, but also allowed us to conclude that, using optimal control considerable savings in water resources, while keeping the crop safe are obtained. Some real test cases were simulated and the comparison between the optimised water to be used by the irrigation system (calculated by software) and the real amount of water used in irrigation site (on-off control system for irrigation) produced water savings above 10%. © 2019 Inderscience Enterprises Ltd.