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As autonomous driving systems (ADSes) become increasingly complex and integral to daily life, the importance of understanding the nature and mitigation of software bugs in these systems has grown correspondingly. Addressing the challenges of software maintenance in autonomous driving systems (e.g., handling real-time system decisions and ensuring safety-critical reliability) is crucial due to the unique combination of real-time decision-making requirements and the high stakes of operational failures in ADSes. The potential of automated tools in this domain is promising, yet there remains a gap in our comprehension of the challenges faced and the strategies employed during manual debugging and repair of such systems. In this paper, we present an empirical study that investigates bug-fix patterns in ADSes, with the aim of improving reliability and safety. We have analyzed the commit histories and bug reports of two major autonomous driving projects, Apollo and Autoware, from 1,331 bug fixes with the study of bug symptoms, root causes, and bug-fix patterns. Our study reveals several dominant bug-fix patterns, including those related to path planning, data flow, and configuration management. Additionally, we find that the frequency distribution of bug-fix patterns varies significantly depending on their nature and types and that certain categories of bugs are recurrent and more challenging to exterminate. Based on our findings, we propose a hierarchy of ADS bugs and two taxonomies of 15 syntactic bug-fix patterns and 27 semantic bug-fix patterns that offer guidance for bug identification and resolution. We also contribute a benchmark of 1,331 ADS bug-fix instances. 

Salinity stress threatens soil microbiomes, a key driver of soil multifunctionality and health. This study employed high-throughput sequencing of 16S rRNA, PLFAs, multifunctionality index, and co-occurrence networks to gain a comprehensive understanding of the dynamic responses of soil microbiomes to salinity stress gradient (0, 0.4 and 1 mol NaCl). Additionally, we investigated how these responses are shaped by the addition of vermicompost and NPK fertilizer during short-term (2-h) and long-term (70-day) incubation periods. Salinity stress reduced bacterial and fungal phospholipid fatty acids (PLFA) concentrations in the short-term. Over the long-term, the microbial community evolved into a new pattern under salt stress, favoring the presence ofBacteriodota, a salt-tolerant phylum, while decreasing the relative abundance ofAcidobacteriotaandPlanctomycetota, which are more salt-sensitive. Furthermore, salinity decreased species richness by 11.33% and soil multifunctionality by 21.48% but increased microbial network complexity while decreasing its stability. Incorporating vermicompost increased bacterial and fungal PLFAs, enhanced bacterial diversity by 2.33%, promoted salt-tolerant bacteria, and increased the complexity and stability of the bacterial network. Conversely, the application of NPK fertilizer reduced bacterial richness, alpha diversity and soil multifunctionality by 14.52, 5.83, and 12.34%, respectively, further disrupting the microbial community and making resilience to salinity stress more challenging. Furthermore, NPK fertilization increased bacterial network complexity but decreased its stability. This study underscores the significance of employing vermicompost to improve the health of saline soils. Furthermore, it emphasizes the negative impacts of NPK fertilizer on soil microbial structure and function and hinder its recovery from salinity’s impacts.