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 ...
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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-orienteddesign, and (v) the QMotor control environment.
The process control system can reduce the amount of scrap generated in the manufacture of rivets through the application of continuous corrective adjustments to the machines. In place of manual method, the system has ...
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The process control system can reduce the amount of scrap generated in the manufacture of rivets through the application of continuous corrective adjustments to the machines. In place of manual method, the system has a totally automatic closed loop control, whereby the rivets are fed to a vision system which after inspection can alter the machine setting via servomotors.
The object-oriented approach has been the most popular software design methodology for the past twenty-five years. Several design patterns and principles are defined to improve the design quality of object-oriented so...
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The object-oriented approach has been the most popular software design methodology for the past twenty-five years. Several design patterns and principles are defined to improve the design quality of object-oriented software systems. In addition, designers can use unique design motifs that are designed for the specific application domains. Another commonly used technique is cloning and modifying some parts of the software while creating new modules. Therefore, object-oriented programs can include many identical design Structures. This work proposes a sub-graph mining-based approach for detecting identical design structures in object-orientedsystems. By identifying and analyzing these structures, we can obtain useful information about the design, such as commonly-used design patterns, most frequent design defects, domain-specific patterns, and reused design clones, which could help developers to improve their knowledge about the software architecture. Furthermore, problematic parts of frequent identical design structures are appropriate refactoring opportunities because they affect multiple areas of the architecture. Experiments with several open-source and industrial projects show that we can successfully find many identical design structures within a project (intra-project) and between different projects (inter-project). We observe that usually most of the detected identical structures are an implementation of common design patterns;however, we also detect various anti-patterns, domain-specific patterns, reused design parts and design-level clones. (C) 2013 Elsevier B.V. All rights reserved.
During the last two decades, many companies have made large investments in the development and implementation of production planning and control systems. However, only a few of these systems developed or installed hav...
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During the last two decades, many companies have made large investments in the development and implementation of production planning and control systems. However, only a few of these systems developed or installed have actually been used in practice, and even fewer have made a significant impact on manufacturing industries. systems, after being implemented, often remain in use for only for a limited time. Effective modelling is one of the most important and difficult steps in the development of reliable information systems and production planning and control in industry is very difficult. This paper presents an object-oriented analysis (OOA) and describes the design of a model for production planning and control in a customised industrial environment. The proposed model was designed for the development of innovative industrial software for the optimum management of production planning in a wide range of business areas.
The application of object-oriented techniques to the development of a real-time system for monitoring and control of remote sites is evaluated. The system, currently installed at several sites in Europe, also includes...
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The application of object-oriented techniques to the development of a real-time system for monitoring and control of remote sites is evaluated. The system, currently installed at several sites in Europe, also includes database management functions and an interactive operator interface. The object-oriented aspects of the system architecture and the development process model are described. Together they provide a technical and organizational framework for projects of similar nature. The pros and cons of the solutions are discussed.
Scientific programmers are eager to take advantage of the computational power offered by Distributed Computing systems (DCSs) but are generally reluctant to undertake the porting of their application programs onto suc...
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Scientific programmers are eager to take advantage of the computational power offered by Distributed Computing systems (DCSs) but are generally reluctant to undertake the porting of their application programs onto such machines. The DCSs commercially available today are indeed widely believed to be difficult to use, which should not be a surprise because they are traditionally programmed with software tools dating back to the days of punch cards and paper tape. We claim that, provided modern object-oriented technologies are used, these computers can be programmed easily and efficiently. We propose a framework where the tricky parallel codes can be encapsulated in object-oriented software components that can be reused, combined, and customized in confidence by application programmers. We propose to use a kind of parallelism known as data-parallelism, encapsulated within classes of a purely sequential object-oriented language (Eiffel), using the SPMD (Single Program Multiple Data) programming model. We define a set of methodological rules to help a programmer design and exploit parallel software components within this framework. We illustrate our approach with the example of PALADIN, an object-oriented library devoted to linear algebra computation on DCSs. PALADIN relies on widely advertised object-oriented features to help a numerical programmer develop or parallelize application programs, following the guidelines of modern software engineering. Most notably, modularity and encapsulation are used to hide data distribution and code parallelization within classes presenting sequential interfaces, while inheritance allows a transparent reuse of basic parallel patterns in new applications. We discuss the implementation of a demonstrator of such a library as well as performance related aspects.
In recent years, several technical architectural paradigms have been proposed to support the development of distributed and concurrent systems. object-oriented, component-based, service-oriented approaches are among t...
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In recent years, several technical architectural paradigms have been proposed to support the development of distributed and concurrent systems. object-oriented, component-based, service-oriented approaches are among the most recent paradigms for the implementation of heterogeneous software products that require complex interprocess communications and event synchronization. Despite the sharing of common objectives with distributed systems research, the robotics community is still late in applying these research results in the development of its architectures, often relying only on the most basic concepts. In this paper, we shortly illustrate these paradigms, their characteristics, and the successful stories about their application within the robotic domain. We discuss benefits and tradeoffs of the different solutions with the goal of deriving some practical principles and strategies to be exploited in robotics practice. Understanding the characteristics, features, advantages, and drawbacks of the different paradigms is, indeed, crucial for the successful design, implementation, and use of robotic architectures. (C) 2009 Elsevier Ltd. All rights reserved.
object-orientedsystems are emerging within civil engineering. One of the primary advantages of the use of object-oriented analysis, design, and programming practices is the reuse potential of the developed code. To m...
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object-orientedsystems are emerging within civil engineering. One of the primary advantages of the use of object-oriented analysis, design, and programming practices is the reuse potential of the developed code. To maximize the reuse potential of civil engineering classes, the requirements for the Consolidated object Repository for Civil Engineering (CORCE) are defined. CORCE information regarding object-oriented applications, class identification, methods, and attributes are listed. The relationship between CORCE and the problem domain component within an application is analyzed. CORCE implementation considerations concerning development and management of the repository are addressed.
Model-based objectorientedsystems Engineering (MOOSE) is a full lifecycle computer systems engineering method intended for the development of products that make use of application specific embedded and distributed c...
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Model-based objectorientedsystems Engineering (MOOSE) is a full lifecycle computer systems engineering method intended for the development of products that make use of application specific embedded and distributed computer systems. The method is divided into a number of phases that effect a series of transformations leading to an implementation, and it is supported by a Product Engineers workbench that supports the capture, translation and execution of the model.
The timetabling problem has traditionally been treated as a mathematical optimization, heuristic, or human-machine interactive problem. These approaches tend to suffer from lack of flexibility, computational intractab...
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The timetabling problem has traditionally been treated as a mathematical optimization, heuristic, or human-machine interactive problem. These approaches tend to suffer from lack of flexibility, computational intractability, and poor results. We introduce an automated timetabler that combines data, model and knowledge-bases, developed using object-oriented methodology. The inclusion of expert knowledge allows for solutions that fit the problem context better while the use of a database enables a more flexible and maintainable system. The object-oriented paradigm allows for a more efficient design and code implementation of scheduling procedures. Results have been promising as the system has automatically scheduled over 2000 students and instructors into more than 300 classes.
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