Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Common architecture for discrete wavelet transform analysis and synthesis with sequential and constant processing elements

This paper adresses the problem on processing biological data such as cardiac beats, audio and ultrasonic range, calculating wavelet coefficients in real time, with processor clock running at frequency of present ASIC's and FPGA. The Paralell Filter Architecture for DWT has been improved, calculating wavelet coefficients in real time with hardware reduced to 60%. The new architecture, which also processes IDWT, is implemented with the Radix-2 or the Booth-Wallace Constant multipliers. Including series memory register banks, one integrated circuit Signal Analyzer, ultrasonic range, is presented.

A multisampling time-domain CMOS imager with synchronous readout circuit

A novel multisampling time-domain architecture for CMOS imagers with synchronous readout and wide dynamic range is proposed. The architecture was implemented in a prototype of imager with 32x32 pixel array fabricated in AMS CMOS 0.35νm and was characterized for sensitivity and color response. The pixel is composed of an n+/psub photodiode, a comparator and a D flip-flop having 16% fill-factor and 30νmx26νm dimensions. The multisampling architecture requires only a 1 bit per pixel memory instead of 8 bits which is typical for time-domain active pixel architectures. The advantage is that the number of transistors in the pixel is low, saving area and providing higher fill-factor. The maximum frame rate is analyzed as a function of number of bits and array size. The analysis shows that it is possible to achieve high frame rates and operation in video mode with 10 bits. Also, we present analysis for the impact of comparator offset voltage in the fixed pattern noise. Copyright 2007 ACM.

Desenvolvimento de Interface gráfica como suporte para soluções numéricas das equações de Maxwell em coordenadas gerais – 3D

Neste trabalho, é implementada uma interface gráfica de usuários (GUI) usando a ferramenta Qt da Nokia (versão 3.0). A interface visa simplificar a criação de cenários para a realização de simulações paralelas usando a técnica numérica Local Nonorthogonal Finite Difference Time-Domain (LN-FDTD), aplicada para solucionar as equações de Maxwell. O simulador foi desenvolvido usando a linguagem de programação C e paralelizado utilizando threads. Para isto, a biblioteca pthread foi empregada. A visualização 3D do cenário a ser simulado (e da malha) é realizada por um programa especialmente desenvolvido que utiliza a biblioteca OpenGL. Para melhorar o desenvolvimento e alcançar os objetivos do projeto computacional, foram utilizados conceitos da Engenharia de Software, tais como o modelo de processo de software por prototipagem. Ao privar o usuário de interagir diretamente com o código-fonte da simulação, a probabilidade de ocorrência de erros humanos durante o processo de construção de cenários é minimizada. Para demonstrar o funcionamento da ferramenta desenvolvida, foi realizado um estudo relativo ao efeito de flechas em linhas de baixa tensão nas tensões transitórias induzidas nas mesmas por descargas atmosféricas. As tensões induzidas nas tomadas da edificação também são estudadas.

Architectural prototyping: from CCS to .Net

Over the last decade, software architecture emerged as a critical issue in Software Engineering. This encompassed a shift from traditional programming towards software development based on the deployment and assembly of independent components. The specification of both the overall systems structure and the interaction patterns between their components became a major concern for the working developer. Although a number of formalisms to express behaviour and to supply the indispensable calculational power to reason about designs, are available, the task of deriving architectural designs on top of popular component platforms has remained largely informal. This paper introduces a systematic approach to derive, from CCS behavioural specifications the corresponding architectural skeletons in the Microsoft .Net framework, in the form of executable C and Cω code. The prototyping process is fully supported by a specific tool developed in Haskell

Prototyping Concurrent Systems in Cw

Software architecture is currently recognized as one of the most critical design steps in Software Engineering. The specification of the overall system structure, on the one hand, and of the interactions patterns between its components, on the other, became a major concern for the working developer. Although a number of formalisms to express behaviour and supply the indispensable calculational power to reason about designs, are available, the task of deriving architectural designs on top of popular component platforms has remained largely informal. This paper introduces a systematic approach to derive, from behavioural specifications written in Cw, the corresponding architectural skeletons in the Microsoft .NET framework in the form of executable code

Prototyping Behavioural Specifications in the.NET framework

Over the last decade, software architecture emerged as a critical design step in Software Engineering. This encompassed a shift from traditional programming towards the deployment and assembly of independent components. The specification of the overall system structure, on the one hand, and of the interactions patterns between its components, on the other, became a major concern for the working developer. Although a number of formalisms to express behaviour and supply the indispensable calculational power to reason about designs, are available, the task of deriving architectural designs on top of popular component platforms has remained largely informal. This paper introduces a systematic approach to derive, from behavioural specifications written in Ccs, the corresponding architectural skeletons in the Microsoft .Net framework in the form of executable C] code. Such prototyping process is automated by means of a specific tool developed in Haskell

DSAAR: distributed software architecture for autonomous robots

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica

Object-oriented development of client / server application: case study of service control software

Tässä työssä on esitetty sen ohjelmiston kehittämisen prosessi, joka on tarkoitettu annettavien palveluiden valvottavaksi käyttäen prototyyppimallia. Raportti sisältää vaatimusten, kohteisiin suunnatun analyysin ja suunnittelun, realisointiprosessien kuvauksen ja prototyypin testauksen. Ohjelmiston käyttöala – antavien palveluiden valvonta. Vaatimukset sovellukselle analysoitiin ohjelmistomarkkinoiden perusteella sekä ohjelmiston engineeringin periaatteiden mukaisesti. Ohjelmiston prototyyppi on realisoitu käyttäen asiakas-/palvelinhybridimallia sekä ralaatiokantaa. Kehitetty ohjelmisto on tarkoitettu venäläisille tietokonekerhoille, jotka erikoistuvat pelipalvelinten antamiseen.

Integrating user experience into early phases of software development

The value and benefits of user experience (UX) are widely recognized in the modern world and UX is seen as an integral part of many fields. This dissertation integrates UX and understanding end users with the early phases of software development. The concept of UX is still unclear, as witnessed by more than twenty-five definitions and ongoing argument about its different aspects and attributes. This missing consensus forms a problem in creating a link between UX and software development: How to take the UX of end users into account when it is unclear for software developers what UX stands for the end users. Furthermore, currently known methods to estimate, evaluate and analyse UX during software development are biased in favor of the phases where something concrete and tangible already exists. It would be beneficial to further elaborate on UX in the beginning phases of software development. Theoretical knowledge from the fields of UX and software development is presented and linked with surveyed and analysed UX attribute information from end users and UX professionals. Composing the surveys around the identified 21 UX attributes is described and the results are analysed in conjunction with end user demographics. Finally the utilization of the gained results is explained with a proof of concept utility, the Wizard of UX, which demonstrates how UX can be integrated into early phases of software development. The process of designing, prototyping and testing this utility is an integral part of this dissertation. The analyses show statistically significant dependencies between appreciation towards UX attributes and surveyed end user demographics. In addition, tests conducted by software developers and industrial UX designer both indicate the benefits and necessity of the prototyped Wizard of UX utility. According to the conducted tests, this utility meets the requirements set for it: It provides a way for software developers to raise their know-how of UX and a possibility to consider the UX of end users with statistical user profiles during the early phases of software development. This dissertation produces new and relevant information for the UX and software development communities by demonstrating that it is possible to integrate UX as a part of the early phases of software development.

Software Development Life Cycles and process models

This presentation describes the evolution of SDLCs from the first formally proposed linear models including, the Waterfall (Royce 1970) through to iterative prototyping models (Spiral and Win-Win Spiral) and incremental, iterative models used in Agile Methods. We discuss the problems iinherent in ech prpoosal and how successive models attempt to solve them.

Software Development Life Cycles and Process Models

This presentation describes the evolution of Software Development Lifecycles (SDLCs) from the first formally proposed linear models including, the Waterfall (Royce 1970) through to iterative prototyping models (Spiral and Win-Win Spiral) and incremental, iterative models used in Agile Methods. We discuss the problems iinherent in each prpoosal and how successive models attempt to solve them.

Goals Software Construction Process

Generalized hyper competitiveness in the world markets has determined the need to offer better products to potential and actual clients in order to mark an advantagefrom other competitors. To ensure the production of an adequate product, enterprises need to work on the efficiency and efficacy of their business processes (BPs) by means of the construction of Interactive Information Systems (IISs, including Interactive Multimedia Documents) so that they are processed more fluidly and correctly.The construction of the correct IIS is a major task that can only be successful if the needs from every intervenient are taken into account. Their requirements must bedefined with precision, extensively analyzed and consequently the system must be accurately designed in order to minimize implementation problems so that the IIS isproduced on schedule and with the fewer mistakes as possible. The main contribution of this thesis is the proposal of Goals, a software (engineering) construction process which aims at defining the tasks to be carried out in order to develop software. This process defines the stakeholders, the artifacts, and the techniques that should be applied to achieve correctness of the IIS. Complementarily, this process suggests two methodologies to be applied in the initial phases of the lifecycle of the Software Engineering process: Process Use Cases for the phase of requirements, and; MultiGoals for the phases of analysis and design. Process Use Cases is a UML-based (Unified Modeling Language), goal-driven and use case oriented methodology for the definition of functional requirements. It uses an information oriented strategy in order to identify BPs while constructing the enterprise’s information structure, and finalizes with the identification of use cases within the design of these BPs. This approach provides a useful tool for both activities of Business Process Management and Software Engineering. MultiGoals is a UML-based, use case-driven and architectural centric methodology for the analysis and design of IISs with support for Multimedia. It proposes the analysis of user tasks as the basis of the design of the: (i) user interface; (ii) the system behaviour that is modeled by means of patterns which can combine Multimedia and standard information, and; (iii) the database and media contents. This thesis makes the theoretic presentation of these approaches accompanied with examples from a real project which provide the necessary support for the understanding of the used techniques.

Analyzing, Capturing and Taming Software Change

Software systems need to continuously change to remain useful. Change appears in several forms and needs to be accommodated at different levels. We propose ChangeBoxes as a mechanism to encapsulate, manage, analyze and exploit changes to software systems. Our thesis is that only by making change explicit and manipulable can we enable the software developer to manage software change more effectively than is currently possible. Furthermore we argue that we need new insights into assessing the impact of changes and we need to provide new tools and techniques to manage them. We report on the results of some initial prototyping efforts, and we outline a series of research activities that we have started to explore the potential of ChangeBoxes.