Test code is becoming more essential to the modern software development process. However, practitioners often pay inadequate attention to key aspects of test code quality, such as bug detectability, maintainability and speed. Existing tools also typically report a single test code quality measure, such as code coverage, rather than a diversified set of metrics. To measure and visualize quality of test code in a comprehensive fashion, we developed an integrated test code analysis tool called Phanta. In this show case, we posit that the enhancement of test code quality is key to modernizing software development, and show how Phanta's techniques measure the quality using mutation analysis, test code clone detection, and so on. Further, we present an industrial case study where Phanta was applied to analyze test code in a real Fujitsu project, and share lessons learned from the case study.

Stack Overflow is one of the most popular question-and-answer sites for programmers. However, there are a great number of duplicate questions that are expected to be detected automatically in a short time. In this paper, we introduce two approaches to improve the detection accuracy: splitting body into different types of data and using word-embedding to treat word ambiguities that are not contained in the general corpuses. The evaluation shows that these approaches improve the accuracy compared with the traditional method.

In this paper, the mechanism, the kinematics, the control, and the experimental results of a newly designed nonholonomic omni-directional vehicle "ODV9" are discussed. ODV9 has four wheel modules, with each wheel module incorporating a motor, brake, and a wheel. Compared with other ODVs, the advantages of ODV9 are not limited to the simplicity of its mechanism. Benefiting from using a normal type wheel equipped with a tire, ODV9 is capable of moving in various environments. The proposed controller for ODV9 is designed using digital optimal control theory. The experimental results show that ODV9 can be practically utilized for various mobile platforms.

Dynamic interactions between dynamic systems are analyzed theoretically. Specifically, three cases that the two systems are (1) isolated from each other, (2) in contact with each other, and (3) at the moment of colliding with each other are investigated in a systematically. The extended Hamilton's principle is used as a principle of mechanics that governs the dynamic behaviors of the systems. Besides, it is assumed that the contact between the two systems can be represented by the classical nonholonomic constraint including the holonomic constraint as a special case. As a result, it is shown that the dynamic interaction can be described by the constraint on the generalized coordinates of the systems and the condition for the generalized forces of constraint. The dynamic interaction can also be expressed in terms of a particular block diagram accompanied with an inputting port of displacements and an outputting port of forces of constraint.

A concept of unit motions and a new scheme for synthesizing free motions of robotic manipulators are proposed. Unit motions are defined as smooth primitive motions in the hand coordinate system by employing normalized uniform B-spline functions. Complex motions are then generated as a superposition of time-shifted and weighted unit motions. Corresponding to unit motions, a concept of unit control inputs is also introduced and an entire control input is then obtained in exactly the same way as complex motions are generated from unit motions. Moreover, in order to build further complex motions from simpler ones in a systematic way, operations on motions are defined including spatial, temporal and structural ones. Based on unit motions and unit control inputs, we then develop a formal method for motion planning and control for robotic manipulators. Motions are represented formally as the time series of weight vectors, or equivalently as the so-called control polygons, and the operations on motions are then regarded as operations on control polygons. Simulation examples are included to demonstrate how to generate motions from unit motions and operations, and properties of the resulting motions are also described.>

A concept of unit motions and a new scheme based on it for synthesizing free motions of robotic manipulators are proposed. First, unit motions for free motions having some smoothness properties are defined. Various operations on the free motions that can be executed in a dynamical way are also defined. Then, formal representations of motions by means of the so-called control polygons are presented. Formal representations of operations including joining and separating motions are also presented. Such formal representations yield concise descriptions of motions and operations. Finally, using some simulation examples it is shown how to synthesize free motions. Properties of resulting motions by this approach are described. Conditions for control systems to generate unit motions are also described. The concepts of unit motions and control polygons offer a basis to deal with the motions formally.>