软件设计模式在移动机器人控制系统中的应用

介绍了软件设计模式的基本概念和主要特点。分析了已有移动机器人平台控制系统的功能需求,阐述了总线模式的结构及实现机制。运用总线模式设计了机器人控制系统,并在QNX平台下使用标准C++完成了该控制系统的实现。设计实现的控制系统结构合理,具有很强的实时性、可靠性和可扩展性。

A framework for collaborative working environments

To utilize the advantages of existing and emerging Internet techniques and to meet the demands for a new generation of collaborative working environments, a framework with an upperware–middleware architecture is proposed, which consists of four layers: resource layer, middleware layer, upperware layer and application layer. The upperware contains intelligent agents and plug/play facilities; the former coordinates and controls multiple middleware techniques such as Grid computing, Web-services and mobile agents, while the latter are used for the applications, such as semantic CAD, to plug and loose couple into the system. The method of migrating legacy software using automatic wrapper generation technique is also presented. A prototype mobile environment for collaborative product design is presented to illustrate the utilization of the CWE framework in collaborative design and manufacture.

Allometric analysis of Sitka spruce branches:Mechanical versus hydraulic design principles

The geometry of tree branches can have considerable effect on their efficiency in terms of carbon export per unit carbon investment in structure. The purpose of this study was to evaluate different design criteria using data describing the form of Picea sitchensis branches. Allometric analysis of the data suggests that resources are distributed to favour shoots with the greatest opportunity for extension into new space, with priority to the extension of the leader. The distribution of allometric relations of links (branch elements) was tested against two models: the pipe model, based on hydraulic transport requirements, and a static load model based on the requirement of shoots to provide mechanical resistance to static loads. Static load resistance required the load parameter to be proportional to the link radius raised to the power of 4. This was shown to be true within a 95% statistical confidence limit. The pipe model would require total distal length to be proportional to link radius squared but the measured branches did not conform well to this model. The comparison suggests that the diameters of branch elements were more related to the requirements for mechanical load. The cost of following a hydraulic design principle (the pipe model) in terms of mechanical efficiency was estimated and suggested that the pipe model branch would not be mechanically compromised but would use structural resources inefficiently. Resource allocation among branch elements was found to be consistent with mechanical stability criteria but also indicated the possibility of allocation based on other criteria, such as potential light interception by shoots. The evidence suggests that whilst branch topology increments by reiteration of units of morphogenesis, the geometry follows a functional design pattern.

Advanced energy efficient coordinated multi-point transmission for OFDMA

The ever-growing energy consumption in mobile networks stimulated by the expected growth in data tra ffic has provided the impetus for mobile operators to refocus network design, planning and deployment towards reducing the cost per bit, whilst at the same time providing a signifi cant step towards reducing their operational expenditure. As a step towards incorporating cost-eff ective mobile system, 3GPP LTE-Advanced has adopted the coordinated multi-point (CoMP) transmission technique due to its ability to mitigate and manage inter-cell interference (ICI). Using CoMP the cell average and cell edge throughput are boosted. However, there is room for reducing energy consumption further by exploiting the inherent exibility of dynamic resource allocation protocols. To this end packet scheduler plays the central role in determining the overall performance of the 3GPP longterm evolution (LTE) based on packet-switching operation and provide a potential research playground for optimizing energy consumption in future networks. In this thesis we investigate the baseline performance for down link CoMP using traditional scheduling approaches, and subsequently go beyond and propose novel energy e fficient scheduling (EES) strategies that can achieve power-e fficient transmission to the UEs whilst enabling both system energy effi ciency gain and fairness improvement. However, ICI can still be prominent when multiple nodes use common resources with di fferent power levels inside the cell, as in the so called heterogeneous networks (Het- Net) environment. HetNets are comprised of two or more tiers of cells. The rst, or higher tier, is a traditional deployment of cell sites, often referred to in this context as macrocells. The lower tiers are termed small cells, and can appear as microcell, picocells or femtocells. The HetNet has attracted signiffi cant interest by key manufacturers as one of the enablers for high speed data at low cost. Research until now has revealed several key hurdles that must be overcome before HetNets can achieve their full potential: bottlenecks in the backhaul must be alleviated, as well as their seamless interworking with CoMP. In this thesis we explore exactly the latter hurdle, and present innovative ideas on advancing CoMP to work in synergy with HetNet deployment, complemented by a novel resource allocation policy for HetNet tighter interference management. As system level simulator has been used to analyze the proposed algorithm/protocols, and results have concluded that up to 20% energy gain can be observed.

Identification of behavioral and creational design patterns through dynamic analysis

Mémoire numérisé par la Division de la gestion de documents et des archives de l'Université de Montréal

Aplicación de gestión y web para un criadero-residencia canino.

El objetivo de este proyecto es implementar un sitio Web i un programa gestor de datos para el criadero/residencia canino De La Serranía (Madrid). Gracias al desarrollo de esta aplicación y del sitio Web se conseguirá que el cliente suprima el uso de todo el papel utilizado anteriormente para guardar la información relativa a clientes, animales y entradas a la residencia, podrá controlar la ocupación de la residencia y generar automáticamente las facturas, crear automáticamente árboles genealógicos de todos los ejemplares registrados, mejorar el rendimiento del criadero gracias a la opción que controla los datos de cría de cada animal: fecha de monta, fecha de parto, resultados de cada parto, etc. y controlar los gastos y ganancias de la empresa

Programming Principles: Collections and Iterators

In this session we look at how we can use collection objects like ArrayList as a more advanced type of array. We also introduce the idea of generics (forcing a collection to hold a particular type) and see how Java handles the autoboxing and unboxing of primitives. Finally we look at Iterators, a common design pattern for dealing with iteration over a collection.

Análisis de la incidencia de las tic en el fortalecimiento de la inclusión y participación ciudadana en Colombia: estudio de caso programa gobierno en línea 2008-2010

El objetivo general de esta investigación es analizar el proceso de incorporación del gobierno electrónico en Colombia, así como evaluar el impacto de las TIC en asuntos del gobierno y su relación con los ciudadanos, puesto que en la práctica se desea incrementar la participación en asuntos públicos y una inclusión ciudadana a través de las TIC. El éxito del Gobierno en Línea dependerá de la transparencia y confianza creciente entre el gobierno y los ciudadanos y toma como referencia la estrategia de Gobierno en Línea 2008-2010. Será usada, una metodología exploratoria y descriptiva sobre la base de documentos bibliográficos y publicaciones periódicas y académicas.

Portabilitat d'aplicacions de PC a PDA mitjançant un cas d'estudi : ScummVM

L’objectiu del treball és estudiar la portabilitat dels programes que han estat originalment dissenyats per a un PC a un dispositiu mòbil, en concret a un PDA amb el sistema operatiu Palm OS. Per al nostre treball, hem escollit una aplicació com a cas d’estudi que ens permet donar solucions a les limitacions que presenta el dispositiu amb Palm OS. Aquesta aplicació s’anomena ScummVM, i es tracta d’una implementació de codi lliure del conegut motor de videojocs SCUMM, creat i utilitzat per LucasArts en les seves aventures gràfiques. Donarem possibles solucions a la problemàtica que genera el fet que la pantalla del dispositiu mòbil utilitzat tingui una resolució de 160x160 a l’hora de mostrar imatges i textos renderitzats per una resolució superior. També solucionarem el problema que representa el fet de no tenir ratolí, ni altres dispositius d’entrada i sortida tradicionals. La intenció és explicar també el procés que s’hauria de seguir per poder portar aplicacions de PC a Palm OS i les eines que s’utilitzarien. Tot això es farà sempre de la manera menys invasiva possible, és a dir, els canvis al codi font de l’aplicació original seran els mínims per garantir el correcte funcionament del programa en la nova plataforma

A Multi-agent Architecture with Distributed Coordination for an Autonomous Robot

Aquest treball proposa una nova arquitectura de control amb coordinació distribuïda per a un robot mòbil (ARMADiCo). La metodologia de coordinació distribuïda consisteix en dos passos: el primer determina quin és l'agent que guanya el recurs basat en el càlcul privat de la utilitat i el segon, com es fa el canvi del recurs per evitar comportaments abruptes del robot. Aquesta arquitectura ha estat concebuda per facilitar la introducció de nous components hardware i software, definint un patró de disseny d'agents que captura les característiques comunes dels agents. Aquest patró ha portat al desenvolupament d'una arquitectura modular dins l'agent que permet la separació dels diferents mètodes utilitzats per aconseguir els objectius, la col·laboració, la competició i la coordinació de recursos. ARMADiCo s'ha provat en un robot Pioneer 2DX de MobileRobots Inc.. S'han fet diversos experiments i els resultats han demostrat que s'han aconseguit les característiques proposades per l'arquitectura.

Real-time identification and modelling in pervasive mining

This paper introduces an architecture for identifying and modelling in real-time at a copper mine using new technologies as M2M and cloud computing with a server in the cloud and an Android client inside the mine. The proposed design brings up pervasive mining, a system with wider coverage, higher communication efficiency, better fault-tolerance, and anytime anywhere availability. This solution was designed for a plant inside the mine which cannot tolerate interruption and for which their identification in situ, in real time, is an essential part of the system to control aspects such as instability by adjusting their corresponding parameters without stopping the process.

Multilayer optimization in radio resource allocation for the packet transmission in wireless networks

In the last decade mobile wireless communications have witnessed an explosive growth in the user’s penetration rate and their widespread deployment around the globe. It is expected that this tendency will continue to increase with the convergence of fixed Internet wired networks with mobile ones and with the evolution to the full IP architecture paradigm. Therefore mobile wireless communications will be of paramount importance on the development of the information society of the near future. In particular a research topic of particular relevance in telecommunications nowadays is related to the design and implementation of mobile communication systems of 4th generation. 4G networks will be characterized by the support of multiple radio access technologies in a core network fully compliant with the Internet Protocol (all IP paradigm). Such networks will sustain the stringent quality of service (QoS) requirements and the expected high data rates from the type of multimedia applications to be available in the near future. The approach followed in the design and implementation of the mobile wireless networks of current generation (2G and 3G) has been the stratification of the architecture into a communication protocol model composed by a set of layers, in which each one encompasses some set of functionalities. In such protocol layered model, communications is only allowed between adjacent layers and through specific interface service points. This modular concept eases the implementation of new functionalities as the behaviour of each layer in the protocol stack is not affected by the others. However, the fact that lower layers in the protocol stack model do not utilize information available from upper layers, and vice versa, downgrades the performance achieved. This is particularly relevant if multiple antenna systems, in a MIMO (Multiple Input Multiple Output) configuration, are implemented. MIMO schemes introduce another degree of freedom for radio resource allocation: the space domain. Contrary to the time and frequency domains, radio resources mapped into the spatial domain cannot be assumed as completely orthogonal, due to the amount of interference resulting from users transmitting in the same frequency sub-channel and/or time slots but in different spatial beams. Therefore, the availability of information regarding the state of radio resources, from lower to upper layers, is of fundamental importance in the prosecution of the levels of QoS expected from those multimedia applications. In order to match applications requirements and the constraints of the mobile radio channel, in the last few years researches have proposed a new paradigm for the layered architecture for communications: the cross-layer design framework. In a general way, the cross-layer design paradigm refers to a protocol design in which the dependence between protocol layers is actively exploited, by breaking out the stringent rules which restrict the communication only between adjacent layers in the original reference model, and allowing direct interaction among different layers of the stack. An efficient management of the set of available radio resources demand for the implementation of efficient and low complexity packet schedulers which prioritize user’s transmissions according to inputs provided from lower as well as upper layers in the protocol stack, fully compliant with the cross-layer design paradigm. Specifically, efficiently designed packet schedulers for 4G networks should result in the maximization of the capacity available, through the consideration of the limitations imposed by the mobile radio channel and comply with the set of QoS requirements from the application layer. IEEE 802.16e standard, also named as Mobile WiMAX, seems to comply with the specifications of 4G mobile networks. The scalable architecture, low cost implementation and high data throughput, enable efficient data multiplexing and low data latency, which are attributes essential to enable broadband data services. Also, the connection oriented approach of Its medium access layer is fully compliant with the quality of service demands from such applications. Therefore, Mobile WiMAX seems to be a promising 4G mobile wireless networks candidate. In this thesis it is proposed the investigation, design and implementation of packet scheduling algorithms for the efficient management of the set of available radio resources, in time, frequency and spatial domains of the Mobile WiMAX networks. The proposed algorithms combine input metrics from physical layer and QoS requirements from upper layers, according to the crosslayer design paradigm. Proposed schedulers are evaluated by means of system level simulations, conducted in a system level simulation platform implementing the physical and medium access control layers of the IEEE802.16e standard.

Designing for workstyle transitions: interaction design tools for software engineering

Supervisor: Duarte Nuno Jardim Nunes

EIT: Escalonador Inteligente de Transações

In order to guarantee database consistency, a database system should synchronize operations of concurrent transactions. The database component responsible for such synchronization is the scheduler. A scheduler synchronizes operations belonging to different transactions by means of concurrency control protocols. Concurrency control protocols may present different behaviors: in general, a scheduler behavior can be classified as aggressive or conservative. This paper presents the Intelligent Transaction Scheduler (ITS), which has the ability to synchronize the execution of concurrent transactions in an adaptive manner. This scheduler adapts its behavior (aggressive or conservative), according to the characteristics of the computing environment in which it is inserted, using an expert system based on fuzzy logic. The ITS can implement different correctness criteria, such as conventional (syntactic) serializability and semantic serializability. In order to evaluate the performance of the ITS in relation to others schedulers with exclusively aggressive or conservative behavior, it was applied in a dynamic environment, such as a Mobile Database Community (MDBC). An MDBC simulator was developed and many sets of tests were run. The experimentation results, presented herein, prove the efficiency of the ITS in synchronizing transactions in a dynamic environment