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51.
Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map 总被引:1,自引:0,他引:1
Robert CupecAuthor Vitae Ivan AleksiAuthor VitaeGünther SchmidtAuthor Vitae 《Robotics and Autonomous Systems》2011,59(2):84-100
A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A∗-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios. 相似文献
52.
Marija Dakulovi?Author Vitae Ivan Petrovi? Author Vitae 《Robotics and Autonomous Systems》2011,59(5):329-342
Inspired by the Witkowski’s algorithm, we introduce a novel path planning and replanning algorithm — the two-way D∗ (TWD∗) algorithm — based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski’s algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD∗ algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD∗ algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D∗ algorithm as it consists of straight line segments with continuous headings. The TWD∗ algorithm is tested and compared to the D∗ and Witkowski’s algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder. 相似文献
53.
Paulo Anselmo da Mota Silveira Neto Ivan do Carmo Machado John D. McGregorEduardo Santana de Almeida Silvio Romero de Lemos Meira 《Information and Software Technology》2011,53(5):407-423
Context
In software development, Testing is an important mechanism both to identify defects and assure that completed products work as specified. This is a common practice in single-system development, and continues to hold in Software Product Lines (SPL). Even though extensive research has been done in the SPL Testing field, it is necessary to assess the current state of research and practice, in order to provide practitioners with evidence that enable fostering its further development.Objective
This paper focuses on Testing in SPL and has the following goals: investigate state-of-the-art testing practices, synthesize available evidence, and identify gaps between required techniques and existing approaches, available in the literature.Method
A systematic mapping study was conducted with a set of nine research questions, in which 120 studies, dated from 1993 to 2009, were evaluated.Results
Although several aspects regarding testing have been covered by single-system development approaches, many cannot be directly applied in the SPL context due to specific issues. In addition, particular aspects regarding SPL are not covered by the existing SPL approaches, and when the aspects are covered, the literature just gives brief overviews. This scenario indicates that additional investigation, empirical and practical, should be performed.Conclusion
The results can help to understand the needs in SPL Testing, by identifying points that still require additional investigation, since important aspects regarding particular points of software product lines have not been addressed yet. 相似文献54.
Matjaz B. Juric Author Vitae Ana Sasa Author Vitae Author Vitae Ivan Rozman Author Vitae 《Journal of Systems and Software》2009,82(8):1326-1343
Versioning is an important aspect of web service development, which has not been adequately addressed so far. In this article, we propose extensions to WSDL and UDDI to support versioning of web service interfaces at development-time and run-time. We address service-level and operation-level versioning, service endpoint mapping, and version sequencing. We also propose annotation extensions for developing versioned web services in Java. We have tested the proposed solution for versioning in two real-world environments and identified considerable improvements in service development and maintenance efficiency, improved service reuse, and simplified governance. 相似文献
55.
In the present article, we continue the study of the propertiesof the spectra of structures as sets of degrees initiated in[11]. Here, we consider the relationships between the spectraand the jump spectra. Our first result is that every jump spectrumis also a spectrum. The main result sounds like a Jump inversiontheorem. Namely, we show that if a spectrum is contained inthe set of the jumps of the degrees in some spectrum then thereexists a spectrum such that and is equal to the set of thejumps of the degrees in . 相似文献
56.
A comprehensive quality model for service-oriented systems 总被引:2,自引:0,他引:2
In a service-oriented system, a quality (or Quality of Service) model is used (i) by service requesters to specify the expected
quality levels of service delivery; (ii) by service providers to advertise quality levels that their services achieve; and
(iii) by service composers when selecting among alternative services those that are to participate in a service composition.
Expressive quality models are needed to let requesters specify quality expectations, providers advertise service qualities,
and composers finely compare alternative services. Having observed many similarities between various quality models proposed
in the literature, we review these and integrate them into a single quality model, called QVDP. We highlight the need for
integration of priority and dependency information within any quality model for services and propose precise submodels for
doing so. Our intention is for the proposed model to serve as a reference point for further developments in quality models
for service-oriented systems. To this aim, we extend the part of the UML metamodel specialized for Quality of Service with
QVDP concepts unavailable in UML.
Ivan J. Jureta has, after graduating, summa cum laude, received the Master in Management and Master of International Management, respectively, at the Université de Louvain, Belgium, and the London School of Economics, both in 2005. He is currently completing his Ph.D. thesis at the University of Namur, Belgium, under Prof. Stéphane Faulkner’s supervision. His thesis focuses on quality management of adaptable and open service-oriented systems enabling the Semantic Web. Caroline Herssens received a Master Degree in Computer Science in 2005 at the Université de Louvain. In 2006, she graduated a Master in Business and Administration from the University of Louvain, with a supply chain management orientation. She is currently a teaching and research assistant and has started a Ph.D. thesis at the information systems research unit at Université de Louvain. Her research interests comprise service-oriented computing, conceptual modeling and information systems engineering. Stéphane Faulkner is an Associate Professor in Technologies and Information Systems at the University of Namur (FUNDP) and an Invited Professor at the Louvain School of Management of the Université de Louvain (UCL). His current research interests revolve around requirements engineering and the development of modeling notations, systematic methods and tool support for the development of multi-agent systems, database and information systems. 相似文献
Stéphane FaulknerEmail: |
Ivan J. Jureta has, after graduating, summa cum laude, received the Master in Management and Master of International Management, respectively, at the Université de Louvain, Belgium, and the London School of Economics, both in 2005. He is currently completing his Ph.D. thesis at the University of Namur, Belgium, under Prof. Stéphane Faulkner’s supervision. His thesis focuses on quality management of adaptable and open service-oriented systems enabling the Semantic Web. Caroline Herssens received a Master Degree in Computer Science in 2005 at the Université de Louvain. In 2006, she graduated a Master in Business and Administration from the University of Louvain, with a supply chain management orientation. She is currently a teaching and research assistant and has started a Ph.D. thesis at the information systems research unit at Université de Louvain. Her research interests comprise service-oriented computing, conceptual modeling and information systems engineering. Stéphane Faulkner is an Associate Professor in Technologies and Information Systems at the University of Namur (FUNDP) and an Invited Professor at the Louvain School of Management of the Université de Louvain (UCL). His current research interests revolve around requirements engineering and the development of modeling notations, systematic methods and tool support for the development of multi-agent systems, database and information systems. 相似文献
57.
58.
During financial crises investors manage portfolios with low liquidity, where the paper-value of an asset differs from the price proposed by the buyer. We consider an optimization problem for a portfolio with an illiquid, a risky and a risk-free asset. We work in the Merton's optimal consumption framework with continuous time. The liquid part of the investment is described by a standard Black–Scholes market. The illiquid asset is sold at a random moment with prescribed distribution and generates additional liquid wealth dependent on its paper-value. The investor has a hyperbolic absolute risk aversion also denoted as HARA-type utility function, in particular, the logarithmic utility function as a limit case. We study two different distributions of the liquidation time of the illiquid asset – a classical exponential distribution and a more practically relevant Weibull distribution. Under certain conditions we show the smoothness of the viscosity solution and obtain closed formulae relevant for numerics. 相似文献
59.
60.
Michal Mereš Ivan Melo Boris Tomášik Vladimír Balek Vladimír ?erný 《Computer Physics Communications》2011,182(12):2561-2566
We propose a novel algorithm, called REGGAE, for the generation of momenta of a given sample of particle masses, evenly distributed in Lorentz-invariant phase space and obeying energy and momentum conservation. In comparison to other existing algorithms, REGGAE is designed for the use in multiparticle production in hadronic and nuclear collisions where many hadrons are produced and a large part of the available energy is stored in the form of their masses. The algorithm uses a loop simulating multiple collisions which lead to production of configurations with reasonably large weights.