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design and implementation of the robotic platform

JOURNAL OF INTELLIGENT & ROBOTIC systems 2004年第1期39卷 105-129页

作者： Loffler, MS Chitrakaran, V Dawson, DM Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

The diversity of robotic research areas along with the complex requirements of hardware and software for robotic systems have always presented a challenge for system developers. Many past robot control platforms were complex, expensive, and not very user friendly. Even though several of the previous platforms were designed to provide an open architecture system, very few of the previous platforms have been reused. To address previous disadvantages, this paper describes the design and implementation of the Robotic Platform, an object-oriented development platform for robotic applications. The Robotic Platform includes hardware interfacing, servo control, trajectory generation, 3D simulation, a graphical user interface, and a math library. As opposed to distributed solutions, the Robotic Platform implements all these components in a homogenous architecture that utilizes a single hardware platform (a standard PC), a single programming language (C++), and a single operating system (the QNX Real-Time Platform) while guaranteeing deterministic real-time performance. This design leads to an open architecture that is less complex, easier to use, and easier to extend. Particularly, the area of multiple cooperating robots benefits from this kind of architecture, since the Robotic Platform achieves a high integration of its components and provides a simple and flexible means of communication. The architecture of the Robotic Platform builds on the following state-of-the-art technologies and general purpose components to further increase simplicity and reliability: (i) PC technology, (ii) the QNX Real-Time Platform, (iii) the Open Inventor library, (iv) object-oriented design, and (v) the QMotor control environment.

关键词： robot control PC real-time object-oriented QNX

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The use of object-oriented techniques and CORBA in astronomical instrumentation control systems

The use of object-oriented techniques and CORBA in astronomi...

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Conference on Advanced Software, Control and Communication systems for Astronomy

作者： Dipper, NA Blackburn, C Univ Durham Dept Phys Ctr Adv Instrumentat Sci Labs Durham DH1 3LE England

ISBN: (纸本)0819454281

Control software for astronomy matches the ever increasing complexity of new large instrumentation projects. In order to speed the development cycle, object-oriented techniques have been used to generate loosely coupled software objects and larger scale components that can be reused in future projects. Such object-oriented systems provide for short development cycles which can respond to changing requirements and allow for extension. The Unified Modeling Language (UML) has been used for the analysis, design and implementation of this software. A distributed system is supported by the use of an object broker such as CORBA. These techniques are being applied to the development of an instrument control system for the UK spectrograph within FMOS (Fiber-fed Multi-object Spectrograph). This is a second generation instrument for the Subaru Telescope of the National Astronomical Observatory of Japan.

关键词： object-oriented Python CORBA UML design patterns control systems FMOS

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object-oriented encapsulation for dynamically typed languages

Object-oriented encapsulation for dynamically typed language...

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19th Conference on object-oriented Programming, systems, Languages, and Applications

作者： Schärli, N Black, AP Ducasse, S Univ Bern Software Composit Grp Bern Switzerland Oregon Hlth & Sci Univ OGI Sch Sci & Engn Portland OR 97201 USA

Encapsulation in object-oriented languages has traditionally been based on static type systems. As a consequence;dynamically-typed languages have only limited support for encapsulation. This is surprising, considering that encapsulation is one of the most fundamental and important concepts behind object-oriented programming and that it is essential for writing programs that are maintainable and reliable, and that remain robust as they evolve. In this paper we describe the problems that are caused by insufficient encapsulation mechanisms and then present object-oriented encapsulation, a simple and uniform approach that solves these problems by bringing state of the art encapsulation features to dynamically typed languages. We provide a detailed discussion of our design rationales and compare them and their consequences to the encapsulation approaches used for statically typed languages. We also describe an implementation of object-oriented encapsulation in Smalltalk. Benchmarks of this implementation show that extensive use of object-oriented encapsulation results in a slowdown of less than 15 percent.

关键词： dynamic typing encapsulation encapsulation policies information hiding smalltalk

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OAP: An object-oriented Approach for Planning modeling

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INTERNATIONAL JOURNAL OF UNCERTAINTY FUZZINESS AND KNOWLEDGE-BASED systems 2004年第Oct2004期12卷 63-82页

作者： Zalaket, J Camilleri, G Univ Toulouse 3 IRIT CSC F-31062 Toulouse France

This article describes a planning approach based on the object representation. A planning domain in OAP (object-oriented Approach for Planning) consists of a dynamic set of objects. OAP provides a language for planning problems modeling and implementation. This approach can evolve a domain model from a literal (predicative) representation to an object based representation, as well as enhancing the development of planning problems. The goal of OAP is to offer the possibility to design and develop planning problems as any other software engineering problem, and to allow the application of planning to a larger class of domains by using methods (functions) that can be implemented within the world objects. Planning systems using OAP as language can be integrated into any existing object-oriented software with a slight additional effort to transform the system to a planning domain model, which allows the use of planning to solve generic tasks in existing software applications (Business, web,...). Therefore planning in real world systems will be easier to model and to implement using all the software engineering facilities offered by the object-oriented tools.

关键词： artificial intelligence planning object-oriented STRIPS functional-strips

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object-oriented encapsulation for dynamically typed languages

Object-oriented encapsulation for dynamically typed language...

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19th Annual ACM Conference on object-oriented Programming, systems, Languages, and Applications, OOPSLA'04

作者： Schärli, Nathanael Black, Andrew P. Ducasse, Stéphane Software Composition Group University of Bern Bern Switzerland OGI Sch. of Science and Engineering Oregon Health and Science University Portland OR United States

ISBN: (纸本)1581138318

Encapsulation in object-oriented languages has traditionally been based on static type systems. As a consequence, dynamically-typed languages have only limited support for encapsulation. This is surprising, considering that encapsulation is one of the most fundamental and important concepts behind object-oriented programming and that it is essential for writing programs that are maintainable and reliable, and that remain robust as they evolve. In this paper we describe the problems that are caused by insufficient encapsulation mechanisms and then present object-oriented encapsulation, a simple and uniform approach that solves these problems by bringing state of the art encapsulation features to dynamically typed languages. We provide a detailed discussion of our design rationales and compare them and their consequences to the encapsulation approaches used for statically typed languages. We also describe an implementation of object-oriented encapsulation in Smalltalk. Benchmarks of this implementation show that extensive use of object-oriented encapsulation results in a slowdown of less than 15 percent.

关键词： object oriented programming

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Region inference for an object-oriented language

Region inference for an object-oriented language

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Conference on Programming Language design and implementation

作者： Chin, WN Craciun, F Qin, SC Rinard, M Singapore MIT Alliance Comp Sci Programme Singapore Singapore Natl Univ Singapore Dept Comp Sci Singapore Singapore MIT Comp Sci Lab Cambridge MA 02139 USA

Region-based memory management offers several important potential advantages over garbage collection, including real-time performance, better data locality, and more efficient use of limited memory. Researchers have advocated the use of regions for functional imperative, and object-oriented languages. Lexically scoped regions are now a core feature of the Real-Time Specification for Java (RTSJ)[5]. Recent research in region-based programming for Java has focused on region checking, which requires manual effort to augment the program with region annotations. In this paper, we propose an automatic region inference system for a core subset of Java. To provide an inference method that is both precise and practical, we support classes and methods that are region-polymorphic, with region-polymorphic recursion for methods. One challenging aspect is to ensure region safety in the presence of features such as class subtyping, method overriding, and downcast operations. Our region inference rules can handle these object-oriented features safely without creating dangling references.

关键词： region inference object-oriented languages type systems memory management downcasts method overriding

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TODS: cluster object storage platform designed for scalable services

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FUTURE GENERATION COMPUTER systems-THE INTERNATIONAL JOURNAL OF ESCIENCE 2004年第4期20卷 549-563页

作者： Zhou, F Jin, C Wu, YH Zheng, WM Univ Calif Berkeley Div Comp Sci Berkeley CA 94720 USA Tsinghua Univ Dept Comp Sci & Technol Beijing Peoples R China

In this paper we present the design and implementation of Tsinghua object Data Store (TODS), a cluster object storage system to support the building of scalable Internet services. TODS provides a unified, transparent and object-oriented view of the storage devices of the whole cluster, which greatly simplifies cluster service development. In the meantime, it is designed to be scalable and efficient. Services built on it can simply inherit these properties in a lot of cases. TODS supports ACID transactions. which facilitates the building of complex transactional services. TODS abstracts away from service logic most complexities of data management, which have often become major obstacles in developing high quality Internet services. The design principles, architecture and implementation of TODS are discussed. In our performance experiments, the system scales smoothly to a 36-node server cluster and achieves 11,160 in-memory reads per second and 396 transactions per second. We also demonstrate that the programming interface is significantly easier to use than that of RDBMS with a head-to-head comparative experiment. (C) 2003 Elsevier B.V. All rights reserved.

关键词： object store cluster storage transparent persistence

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Automatic generation of concurrent distributed systems based on object-oriented approach

Automatic generation of concurrent distributed systems based...

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Proceedings of the 16th IASTED International Conference on Parallel and Distributed Computing and systems

作者： Galicia, Jorge Cortés García, Felipe R. Menchaca Ctro. de Invest. en Computation Inst. Politécnico Nacional U. Profesional Adolfo Lopez Mateos Esq. Miguel Othon de Mendizabal Zacatenco Ciudad de México Mexico

This paper presents an evolutionary prototyping methodology oriented to the model, design and implementation of concurrent distributed systems. This methodology use two several stages: a modeling language of concurrent distributed systems LeMSiDiC (a graphical modeled language who provides UML-like structuring capabilities and a precise syntax and semantic for automatic source code generation for these types of systems);a source code generator GeCSiDiC (a code generator able to construct the objects associated to the model specified with LeMSiDiC using the object-oriented paradigm). The methodology allows to interrelate with one architecture oriented to concurrent distributed systems management or to interrelate with concurrent distributed systems without a specialized support.

关键词： Distributed computer systems

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Agent-based mission management for a UAV

Agent-based mission management for a UAV

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Intelligent Sensors, Sensor Networks and Information Processing Conference

作者： Karim, S Heinze, C Dunn, S Univ Melbourne Melbourne Vic Australia

ISBN: (纸本)0780388933

This article reports on the design, implementation and testing of a mission management system for a small, electric powered UAV - the Codarra Avatar The system was designed and implemented using the agent-programming paradigm, which is a powerful, scalable and flexible framework for building autonomous systems. Specifically, we have used the JACK Intelligent Agents programming language. The system was integrated with an existing autopilot and auto -stabilisation system that performs basic flight control on the UAV The mission management system performs without any human intervention, and represents a step forward in UAV autonomy. The use of agents as the design and development platform is particularly useful in view of future work involving teams, or perhaps swarms, of UAVs. Two agent designs inspired by different design principles will be described and compared. The simulation and actual flight tests will also be discussed. In addition to the experimental report, we provide a short conceptual discourse on autonomous agent and multi-agent systems, and how the proposed frameworks and concepts can apply to multi-bAV control.

关键词： remotely operated vehicles aircraft control multi-agent systems aerospace testing intelligent control programming languages object-oriented programming aerospace expert systems agent-based mission management Codarra Avatar JACK intelligent agent programming language flight control UAV swarms autonomous agent systems multi-UAV control electric powered UAV aerospace testing Aircraft control Unmanned vehicles Computer Programming Languages Intelligent agents Intelligent control object oriented programming

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Modem concurrency abstractions for C

Modem concurrency abstractions for C

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作者： Benton, Nick Cardelli, Luca Fournet, Cédric Microsoft Research Microsoft Research Roger Needham Building 7 J J Thomson Avenue Cambridge CB3 0FB United Kingdom

Polyphonie C# is an extension of the C# language with new asynchronous concurrency constructs, based on the join calculus. We describe the design and implementation of the language and give examples of its use in addr... 详细信息

关键词： object oriented programming

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