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Tool support for service oriented development from business processes

Tool support for service oriented development from business ...

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2nd International Workshop on Model-Driven Service Engineering, MoSE 2010

作者： Delgado, Andrea De Guzmán, Ignacio García-Rodríguez Ruiz, Francisco Piattini, Mario Faculty of Engineering Computer Science Institute University of Republica Julio Herrera y Reissig 565 1300 Montevideo Uruguay Dep. of Information Technologies and Systems Alarcos Research Group University of Castilla - la Mancha 13071 Ciudad Real Spain

The integration of Business Process Management (BPM), Service Oriented Computing (SOC) and Model Driven Development (MDD) paradigms to improve the development of services oriented solutions from business models is nowadays in the spotlight. Organizations wanting to remain competitive despite the constant changes in their business are paying more attention to their business processes and its base lifecycle. Business process modeling is also at the centre of software development efforts, as making those models explicitly constitutes the basis for services definition. Transformations between business process and services models allow the automatic generation of services from business processes in a repeatable and systematic way, easing the development process. In this paper we present MINERVA's tool support for service oriented development from business processes, including QVT transformations from BPMN to SoaML models to automatically generate service models from business process models.

关键词： Software design

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Engineering for industrial robots in content based virtual space

Engineering for industrial robots in content based virtual s...

引用

IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： László Horváth Imre J. Rudas Karel Jezernik Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Buddha University Budapest Hungary Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling.

关键词： Aerospace industry Service robots Orbital robotics Recycling Knowledge engineering systems engineering and theory Modeling Humans Programmable control Adaptive control

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Automatic annotation of actigraphy data for Sleep disorders diagnosis purposes

Automatic annotation of actigraphy data for Sleep disorders ...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Alexandre Domingues Ondrej Adamec Teresa Paiva J. Miguel Sanches Institute of Systems and Robotics Instituto Superior Técnico Portugal Institute of Systems and Robotics Faculty of Electrical Engineering and Computer Science Instituto Superior Técnico VSB TU Ostrava Czech Republic Faculdade de Medicina da Universidade de Lisbon Portugal

The diagnosis of Sleep disorders, highly prevalent in the western countries, typically involves sophisticated procedures and equipments that are intrusive to the patient. Wrist actigraphy, on the contrary, is a non-invasive and low cost solution to gather data which can provide valuable information in the diagnosis of these disorders. The acquired data may be used to infer the Sleep/Wakefulness (SW) state of the patient during the circadian cycle and detect abnormal behavioral patterns associated with these disorders. In this paper a classifier based on Autoregressive (AR) model coefficients, among other features, is proposed to estimate the SW state. The real data, acquired from 23 healthy subjects during fourteen days each, was segmented by expert medical personal with the help of complementary information such as light intensity and Sleep e-Diary information. Monte Carlo tests with a Leave-One-Out Cross Validation (LOOCV) strategy were used to assess the performance of the classifier which achieves an accuracy of 96%.

关键词： Sleep Mathematical model Data models Wrist Accuracy Computational modeling Bayesian methods

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties

Sliding-mode control for trajectory-tracking of a Wheeled Mo...

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Asian Control Conference

作者： Razvan Solea Adrian Filipescu Urbano Nunes Faculty of Computer Science Dunarea de Jos University of Galati Galati Romania Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9781424454402

Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking even if for high upper bound of uncertainties.

关键词： Sliding mode control Mobile robots Uncertainty Vehicle dynamics Electric variables control Control systems Automatic control Switches Trajectory Kinematics

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Software architecture of the Autonomous Mobile Outdoor Robot AMOR

Software architecture of the Autonomous Mobile Outdoor Robot...

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IEEE Symposium on Intelligent Vehicle

作者： Klaus-Dieter Kuhnert Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

Even if outdoor robotics is gaining increasing interest, universal systems are rare to find up to now. One of them is the autonomous mobile outdoor robot (AMOR), which operates in rough terrain under arbitrary weather condition. This paper presents its software architecture and some performance figures. The whole system is designed by a modular and layered paradigm, to allow for easy reconfiguration and adaptation to new tasks. Elementary behaviours act as the fundament, which delivers the basic abilities and secures the robot. Model based components are utilized for more intelligent tasks like obstacle avoidance and local/global path planning. Robust operation in complex terrain is achieved by combining a multitude of sensors. The software architecture unifies them by introducing a virtualisation layer, which hides all hardware specific consideration from the application programmer. This way the overall system configuration can be easily adapted to the actual task without changing the high level software. Above the medium layer an object oriented system has been implemented, that is able to localise, navigate and avoid obstacles in rough terrain. The overall performance of the system has been proven by winning the first price in autonomous driving in the European Land Robot Trial (ELROB 2007) for urban and non-urban terrain. Details of the performance are given in the results.

关键词： Vehicles

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks systems engineering and theory Communications technology computer science

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Autonomously Flying VTOL-Robots: Modeling and Control

Autonomously Flying VTOL-Robots: Modeling and Control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Konstantin Kondak Markus Bernard Nicolas Meyer Gunter Hommel Real-Time Systems and Robotics Group Faculty of Electrical Engineering and Computer Science Technische Universitat Berlin Berlin Germany

In this paper an approach for control of autonomously flying robots with vertical take off and landing capabilities (VTOL) is presented. After reviewing that the motion description for different VTOL-robots is very similar, the general control scheme for VTOL-robots is presented. This scheme is based on linearisation and decoupling using inversion of the system model blocks. To compensate the model uncertainties and disturbances two additional parts are included into the controller: a reduced state observer based on a robot motion model as well as a disturbances observer and compensator for orientation control. The presented approach was applied to two different VTOL-robots: a helicopter and a quad-rotor. In real flight experiments it was verified that the presented general but simple controller provides sufficient performance for a wide range of practical applications.

关键词： Helicopters Robot sensing systems Gyroscopes robotics and automation Automatic control Motion control Uncertainty Unmanned aerial vehicles Observers Delay estimation

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Model-based performance engineering of General Motors’ vehicle supply chain

Model-based performance engineering of General Motors’ vehi...

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IEEE International Conference on systems, Man and Cybernetics

作者： Armin Zimmermann Michael Knoke Shang-Tae Yee Jeffrey D. Tew Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group Technische Universität Berlin Barlin Germany GM Research and Development Center Warren MI USA

We present results of a collaboration project, during which parts of General Motors' north American vehicle supply chain have been modeled and evaluated. A variant of colored stochastic Petri nets has been developed for this task, and support for model creation and performance evaluation was implemented in our tool timeNET. Variations of the model and their stepwise evaluation lead to suggestions about how the supply chain can be reorganized in order to improve the time between customer order and vehicle delivery (order-to-delivery time).

关键词： Automotive engineering Vehicles Supply chains Logistics Petri nets Stochastic processes Research and development Delay Resource management Performance analysis

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Towards Content Oriented Integration of Product and Robot System Models

Towards Content Oriented Integration of Product and Robot Sy...

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International Symposium on Logistics and Industrial Informatics, LINDI

作者： Laszlo Horvath Imre J. Rudas Karel Jezernik John von Neumann Faculty of Informatics Budapest Technology Institute of Intelligent Engineering Systems Budapest Hungary Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

An approach and method to integrate virtual engineering and robot systems is introduced. The main idea is extended application of the principle of shape aspect that is well-proven in part modeling. Shape intensive robot system is engineered by using of shape modeling. Shapes are connected by special aspects in a shape aspect oriented model system. The main purpose of the proposed approach and method is better communication between product modeling and robot related engineering. Associativity definitions integrate part level functions into product level functions while behaviors and adaptivities are also handled as aspects. Paper starts with introduction and comparison of classical industrial product modeling and the proposed integrated product and robot system modeling. Following this, extended application of shape aspects and definition of connective aspects are detailed. Finally, implementation in open architecture industrial modeling systems is explained and future work is outlined.

关键词： Service robots systems engineering and theory robotics and automation Intelligent robots Solid modeling Informatics Shape control computer aided manufacturing Logistics Electrical products industry

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