As part of the DevOps tactics, Infrastructure-as-Code (IaC) provides the ability to create, configure, and manage complex infrastructures by means of executable code. Writing IaC, however, is not an easy task, since it requires blending different infrastructure programming languages and abstractions, each specialized on a particular aspect of infrastructure creation, configuration, and management. Moreover, the more the architectures become large and complex (e.g. Data-Intensive or Microservice-based architectures), the more dire the need of IaC becomes. The goal of this paper is to exploit Model-Driven Engineering (MDE) to create language-agnostic models that are then automatically transformed into IaC. We focus on the domain of Data-Intensive Applications as these typically exploit complex infrastructures which demand sophisticated and fine-grained configuration and re-configuration - we show that, through our approach, called DICER, it is possible to create complex IaC with significant amounts of time savings, both in IaC design as well as deployment and re-deployment times.

Model-driven engineering (MDE) often features quality assurance (QA) techniques to help developers creating software that meets reliability, efficiency, and safety requirements. In this paper, we consider the question of how quality-aware MDE should support data-intensive software systems. This is a difficult challenge, since existing models and QA techniques largely ignore properties of data such as volumes, velocities, or data location. Furthermore, QA requires the ability to characterize the behavior of technologies such as Hadoop/MapReduce, NoSQL, and stream-based processing, which are poorly understood from a modeling standpoint. To foster a community response to these challenges, we present the research agenda of DICE, a quality-aware MDE methodology for data-intensive cloud applications. DICE aims at developing a quality engineering tool chain offering simulation, verification, and architectural optimization for Big Data applications. We overview some key challenges involved in developing these tools and the underpinning models.

We propose a method for visual robot localization using a panoramic image volume as the representation from which we can generate views from virtual viewpoints and match them to the current view. We use a geometric image-based rendering formalism in combination with a subspace representation of images, which allows us to synthesize views at arbitrary virtual viewpoints from a compact low-dimensional representation.

When using appearance-based recognition for self-localization of mobile robots, the images obtained during the exploration of the environment need to be efficiently stored in the memory. PCA offers means for representing the images in a low-dimensional subspace, which allows for efficient matching and recognition. For active exploration it is necessary to use an incremental method for the computation of the subspace. We propose to use an incremental PCA algorithm with the updating of partial image representations in a way that allows the robot to discard the acquired images immediately after the update. Such a model is open-ended, meaning that we can easily update it with new images. We show that the performance of the proposed method is comparable to the performance of the batch method in terms of compression, computational cost and the precision of localization. We also show that by applying the repetitive learning, the subspace converges to that constructed with the batch method.