Learning feedforward controller for a mobile robot vehicle

This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning feedforward component, containing a single-layer neural network, that generates a control contribution on the basis of the desired trajectory of the vehicle. The neural network uses B-spline basis functions, enabling a computationally fast implementation and fast learning. The resulting control system is able to correct for errors due to parameter mismatches and classes of structural errors in the model used for the controller design. After sufficient learning, an existing static gain controller designed on the basis of an extensive model has been outperformed in terms of tracking accuracy

Definition of the on-time delivery indicator in rapid software development

Rapid software development (RSD) is an approach for developing software in rapid iterations. One of the critical success factors of an RSD project is to deliver the product releases on time and with the planned features. In this paper, we elaborate an exploratory definition of the On-Time Delivery strategic indicator in RSD based on the literature and interviews with four companies. This indicator supports decision-makers to detect development problems in order to avoid delays and to estimate the additional time needed when requirements, and specifically quality requirements, are considered.Peer ReviewedPostprint (author's final draft

An approach to reconcile the agile and CMMI contexts in product line development

Software product line approaches produce reusable platforms and architectures for products set developed by specific companies. These approaches are strategic in nature requiring coordination, discipline, commonality and communication. The Capability Maturity Model (CMM) contains important guidelines for process improvement, and specifies "what" we must have into account to achieve the disciplined processes (among others things). On the other hand, the agile context is playing an increasingly important role in current software engineering practices, specifying "how" the software practices must be addressed to obtain agile processes. In this paper, we carry out a preliminary analysis for reconciling agility and maturity models in software product line domain, taking advantage of both.Postprint (published version

StarGro: Building i* metrics for agile methodologies

Requirements management is one of the cornerstone activities in software development. Agile methodologies use dedicated methods, techniques and artifacts in order to implement this activity. Remarkably, Backlog Grooming is the activity of managing and welcoming changing requirements in SCRUM. However, current industrial practices in agile development still tend to render this process in the shape of a list of statements, features and bug fixes that often leads to a blurred view of the goals of the project, the underestimation of client's needs and the decrease of the ability to respond to changes. In this paper we outline an approach that uses goal and agent oriented modelling techniques in order to fill in this "intentional" gap that current industrial approaches lack.Peer ReviewedPostprint (published version

From Design to Production Control Through the Integration of Engineering Data Management and Workflow Management Systems

At a time when many companies are under pressure to reduce "times-to-market" the management of product information from the early stages of design through assembly to manufacture and production has become increasingly important. Similarly in the construction of high energy physics devices the collection of (often evolving) engineering data is central to the subsequent physics analysis. Traditionally in industry design engineers have employed Engineering Data Management Systems (also called Product Data Management Systems) to coordinate and control access to documented versions of product designs. However, these systems provide control only at the collaborative design level and are seldom used beyond design. Workflow management systems, on the other hand, are employed in industry to coordinate and support the more complex and repeatable work processes of the production environment. Commercial workflow products cannot support the highly dynamic activities found both in the design stages of product development and in rapidly evolving workflow definitions. The integration of Product Data Management with Workflow Management can provide support for product development from initial CAD/CAM collaborative design through to the support and optimisation of production workflow activities. This paper investigates this integration and proposes a philosophy for the support of product data throughout the full development and production lifecycle and demonstrates its usefulness in the construction of CMS detectors.Comment: 18 pages, 13 figure