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Velasco Elizondo P.,Center for Mathematical Research | Lau K.-K.,University of Manchester
Journal of Systems and Software | Year: 2010

Component-based development is based on the idea of building software systems by composing pre-existing components. Connectors are the 'glue' for composing components. Therefore, it is important to consider connectors as first-class entities and provide adequate descriptions of them to facilitate their understanding and promote their reuse. We have defined a catalogue of component connectors to support the process of 'development with reuse'. The categories and connector types in the catalogue were obtained through an analysis of the activities involved in this process as well as considering the syntax and semantics of a new component model. © 2010 Elsevier Inc. All rights reserved. Source


Vasquez-Gomez J.I.,National Institute of Astrophysics, Optics and Electronics | Sucar L.E.,National Institute of Astrophysics, Optics and Electronics | Murrieta-Cid R.,Center for Mathematical Research
IEEE International Conference on Intelligent Robots and Systems | Year: 2014

The task addressed in this paper is to plan iteratively a set views in order to reconstruct an object using a mobile manipulator robot with an 'eye-in-hand' sensor. The proposed method plans views directly in the configuration space avoiding the need of inverse kinematics. It is based on a fast evaluation and rejection of a set of candidate configurations. The main contributions are: a utility function to rank the views and an evaluation strategy implemented as a series of filters. Given that the candidate views are configurations, motion planning is solved using a rapidly-exploring random tree. The system is experimentally evaluated in simulation, contrasting it with previous work. We also present experiments with a real mobile manipulator robot, demonstrating the effectiveness of our method. © 2014 IEEE. Source


Velasco Elizondo P.,Center for Mathematical Research
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2010

Software Product Line (SPL) approaches enable the development of software product variants by reusing a set of software core assets. These assets could have variant features themselves that can be configured in different ways to provide different behaviours. Unfortunately, in many SPL approaches software core assets are constructed from scratch and in an ad hoc manner. © 2010 Springer-Verlag Berlin Heidelberg. Source


Estrada E.,University of Strathclyde | Estrada E.,Center for Mathematical Research | Sheerin M.,University of Strathclyde
Physica D: Nonlinear Phenomena | Year: 2016

A random rectangular graph (RRG) is a generalization of the random geometric graph (RGG) in which the nodes are embedded into a rectangle with side lengths a and b=1/a, instead of on a unit square [0,1]2. Two nodes are then connected if and only if they are separated at a Euclidean distance smaller than or equal to a certain threshold radius r. When a=1 the RRG is identical to the RGG. Here we apply the consensus dynamics model to the RRG. Our main result is a lower bound for the time of consensus, i.e., the time at which the network reaches a global consensus state. To prove this result we need first to find an upper bound for the algebraic connectivity of the RRG, i.e., the second smallest eigenvalue of the combinatorial Laplacian of the graph. This bound is based on a tight lower bound found for the graph diameter. Our results prove that as the rectangle in which the nodes are embedded becomes more elongated, the RRG becomes a 'large-world', i.e., the diameter grows to infinity, and a poorly-connected graph, i.e., the algebraic connectivity decays to zero. The main consequence of these findings is the proof that the time of consensus in RRGs grows to infinity as the rectangle becomes more elongated. In closing, consensus dynamics in RRGs strongly depend on the geometric characteristics of the embedding space, and reaching the consensus state becomes more difficult as the rectangle is more elongated. © 2015 Elsevier B.V. Source


Velasco-Elizondo P.,Center for Mathematical Research
CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book | Year: 2011

Several works on using Component-based Development to construct Software Product Lines have been reported. However, shortcomings in both approaches have limited the benefits of combining them in practice for the development of software asset variants. This paper explores the feasibility of using composition operators to construct such variants from pre-existing software components. The variants are implemented as composite components, which provide variant behaviours that can be reused in a Software Product Line. Via a case study, we will show that the use of these operators enables a consistent and systematic approach to variant construction. Other benefits of our approach are design preservation, modularity and automation. © 2011 IEEE. Source

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