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排序方式: 共有3243条查询结果,搜索用时 15 毫秒
41.
Cory White Daniel Hiranandani Christopher S. Olstad Keith Buhagiar Timmy Gambin Christopher M. Clark 《野外机器人技术杂志》2010,27(4):399-411
This paper documents the development of an underwater robot system enabled with several mapping and localization techniques applied to a particular archaeological expedition. The goal of the expedition was to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. Such cisterns often consisted of several connected chambers, still containing water. A sonar‐equipped remotely operated vehicle (ROV) was deployed into these cisterns to obtain both video footage and sonar range measurements. Six different mapping and localization techniques were employed, including (1) sonar image mosaics using stationary sonar scans, (2) sonar image mosaics using stationary sonar scans with Smart Tether position data, (3) simultaneous localization and mapping (SLAM) while the vehicle was in motion, (4) SLAM using stationary sonar scans, (5) localization using previously created maps, and (6) SLAM while the vehicle was in motion with Smart Tether position data. Top‐down‐view maps of 22 different cisterns were successfully constructed. It is estimated that the cisterns were built as far back as 300 B.C., and few records of their size, shape, and connectivity existed before the expedition. © 2010 Wiley Periodicals, Inc. 相似文献
42.
Ali Fouad Keith Phalp John Mathenge Kanyaru Sheridan Jeary 《Software Quality Journal》2011,19(2):411-430
Model-Driven Architecture (MDA) brings benefits to software development, among them the potential for connecting software
models with the business domain. This paper focuses on the upstream or Computation-Independent Model (CIM) phase of MDA. Our contention is that, whilst there are many models and notations available
within the CIM phase, those that are currently popular and supported by the Object Management Group (OMG) may not be the most
useful notations for business analysts nor sufficient to fully support software requirements and specification. Therefore,
with specific emphasis on the value of the Business Process Modelling Notation (BPMN) for business analysts, this paper provides
an example of a typical CIM approach before describing an approach that incorporates specific requirements techniques. A framework
extension to MDA is then introduced, which embeds requirements and specification within the CIM, thus further enhancing the
utility of MDA by providing a more complete method for business analysis. 相似文献
43.
Joris Vaillant Abderrahmane Kheddar Hervé Audren François Keith Stanislas Brossette Adrien Escande Karim Bouyarmane Kenji Kaneko Mitsuharu Morisawa Pierre Gergondet Eiichi Yoshida Suuji Kajita Fumio Kanehiro 《Autonomous Robots》2016,40(3):561-580
We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites. 相似文献
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With the advent of intelligent computer aided design systems, companies such as Boeing are embarking on an era in which core competitive engineering knowledge and design rationale is being encoded in software systems. The promise of this technology is that this knowledge can be leveraged across many different designs, product families, and even different uses (e.g., generative process planning for manufacturing). The current state of the practice attempts to achieve this goal through the reuse of software components. A fundamental problem with this approach to knowledge sharing and reuse is that what we are trying to reuse is software—the end artifact in a long and complicated process that goes from requirement specifications, through a process of design, to implementations. Knowledge sharing and reuse can not easily and uniformly occur at the software level. So what can be done as an alternative? This paper describes a theory, methodology, language, and tool for the semi-automatic development and maintenance of engineering software from requirement specifications. In essence, this paradigm for software development and maintenance is one that explicitly captures requirement specifications, designs, implementations, and the refinement processes that lead from requirements all the way down to software. By recording this entire refinement history, we stand a better chance of leveraging knowledge for different uses. 相似文献
46.
The primary aims of this study were to establish a client injury baseline for the New Zealand adventure tourism and adventure sport sector, and to examine patterns and trends in claims for injury during participation in adventure activities. Content analysis of narrative text data for compensated injuries occurring in a place for recreation and sport over a 12-month period produced over 15,000 cases involving adventure tourism and adventure sport. As found in previous studies in New Zealand, highest claim counts were observed for activities that are often undertaken independently, rather than commercially. Horse riding, tramping, surfing and mountain biking were found to have highest claim counts, while hang gliding/paragliding/parasailing and jet boating injuries had highest claim costs, suggesting greatest injury severity. Highest claim incidence was observed for horse riding, with female claimants over-represented for this activity. Younger male claimants comprised the largest proportion of adventure injuries, and falls were the most common injury mechanism. 相似文献
47.
Assessing the quality of use case descriptions 总被引:1,自引:0,他引:1
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