Many organizations have now adopted Service Oriented Architecture (SOA) as an architectural style to help them with architecture, design and implementation of their core services and systems. Most of these organizat...
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Many organizations have now adopted Service Oriented Architecture (SOA) as an architectural style to help them with architecture, design and implementation of their core services and systems. Most of these organizations are challenged in integrating SOA style with their overall Enterprise Architecture work. This framework links an SOA style with the Enterprise Architecture (EA) methodologies to help organizations organize their SOA effort as a key part of their Enterprise Architecture. The case study demonstrates the implementation of architecture goal with organization vision in service oriented organizational structure using services that align Business with Technology. The framework is validated and has reserved the privileges of SOA and EA.
The article shows that UV resonance Raman spectroscopy (UVRR) can be used to characterize nanotubes formed with diphenylalanine (FF) peptides and graphene by tuning the excitation wavelengths to match the electronic t...
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The article shows that UV resonance Raman spectroscopy (UVRR) can be used to characterize nanotubes formed with diphenylalanine (FF) peptides and graphene by tuning the excitation wavelengths to match the electronic transitions of the individual components (FF and graphene) and probe their properties during assembly. Raman spectroscopy is a sensitive method for monitoring the self-assembly of biological macromolecules. Amyloidogenic peptides have been shown to form peptide nanotubes often with a central diphenylalanine core. The present study demonstrates the utility of deep UVRR spectroscopy for the study and characterization of hybrid biomolecule?graphene nanotubular structures. In particular, we show that selective resonance enhancement of the components is achieved through variation of the laser excitation energy. This behavior could be useful in studying the properties of the individual components during assembly.
This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The ...
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ISBN:
(纸本)9781467344401
This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.
Constraint solving is a fundamental tenet of most test case generation strategies. However, conventional constraint solving methods were not designed in consideration of that aspect of test case generation. It has led...
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Constraint solving is a fundamental tenet of most test case generation strategies. However, conventional constraint solving methods were not designed in consideration of that aspect of test case generation. It has led to a situation where test case generation techniques can miss test cases when constraints contain function invocations. This is due to the fact that, when solving constraints to generate test cases, function invocations are not effectively handled and, as a result, solutions to some constraints are not found even though they do exist. This problem occurs in both specification-based and code-based testing. To address the problem, this paper presents a function substitution method that transforms test case constraints that contain certain types of functions into equivalent constraints that do not contain those functions. The transformation preserves the solution space and avoids missed test cases. As a result, the completeness of test case generation can be improved.
This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrot...
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ISBN:
(纸本)9781467344401
This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.
With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the serv...
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ISBN:
(纸本)9783037851579
With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the server responsible for controlling the record of news and information network transit between paragraphs;through remote interaction, real-time client to complete the real humanoid robot control functions. Interoperability between the client, first to sign the server. Server information of all registered users to return to the client process, then the client users will be able to get online users to select the remote robot interaction..When a user operation, the client program as a virtual robot through the virtual robot laboratory will be displayed in realtime robot control results.
In this letter, we propose a new observer error linearization approach that is called reduced-order dynamic observer error linearization (RDOEL), which is a modified version of dynamic observer error linearization (DO...
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