Self-adaptive software is an efficient way to cope with highly dynamic nature of the environment where it is situated. In this paper, from the perspective of software architecture, we propose a component framework for...Self-adaptive software is an efficient way to cope with highly dynamic nature of the environment where it is situated. In this paper, from the perspective of software architecture, we propose a component framework for supporting the architecture-based design and development of self-adaptive applications. It captures some key elements of the research on software architecture and provides more flexible facilities to decouple interacting components. Based on that, a prototype is implemented to demonstrate its feasibility, and at last a case study is presented to illustrate our framework.展开更多
It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Softwar...It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.展开更多
基金Supported bythe National Key Basic Research andDevelopment Programof China (2002CB312002) the National Natu-ral Science Foundation of China (60403014 ,60233010) +1 种基金the NationalHigh-Tech Research and Development Program of China(2005AA113030) the Natural Science Foundation of Jiangsu Prov-ince (BK2006712)
文摘Self-adaptive software is an efficient way to cope with highly dynamic nature of the environment where it is situated. In this paper, from the perspective of software architecture, we propose a component framework for supporting the architecture-based design and development of self-adaptive applications. It captures some key elements of the research on software architecture and provides more flexible facilities to decouple interacting components. Based on that, a prototype is implemented to demonstrate its feasibility, and at last a case study is presented to illustrate our framework.
基金The project is supported by European Open Robot Control Software Founda-tion(No.IST-2000-31064), National Natural Science Foundation of China(No.60475031) and the Swedish Foundation for Strategic Research, Sweden.
文摘It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.
