Abstract

Abstract
One important role of Enterprise Architecture aims at modeling enterprise artifacts and their relationships, ranging from the high-level concepts to physical ones such as communication networks and enterprise premises. As it is well known, these artifacts evolve over time, as well as their relationships. The dynamic nature of such artifacts has been a difficulty not only in modeling but also in keeping enterprise blueprints updated. This paper presents our approach to handle blueprints of the Enterprise Architecture, based on several years and projects in large organizations, both in the financial and telecommunication industry. We started by considering "projects" as the changing elements of Enterprise artifacts and achieve a scenario where blueprints are automatically generated and updated, and a time bar allows traveling from the past (AS-WAS), to the present (AS-IS) and to the future scenarios (TO-BE). The paper also presents an overview of the underlying model, the applied methodology and the blueprints that we found to be a valuable instrument amongst elements of different communities: Project Management, IT Governance and IT Architecture. In spite that the cases studies are targeted to the IT domain, the lessons are valid for other architectural areas. © 2009 Springer Berlin Heidelberg.

Abstract

Abstract
This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviours and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot in the early stages of the development. The joints controller techniques, such as acceleration, speed and energy consumption minimization are discussed and experimental results are presented in order to validate the proposed simulator.

Abstract
This paper presents a humanoid servomotor model that can be used in simulations. Once simulation is a tool that reduces the software production time, it was developed a realistic simulator that own the humanoid features. Based on a real platform, the simulator is validated when compared with the reality.

Abstract
This article describes a joint trajectory optimized controller developed in a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level joints controller techniques, such as acceleration, speed, and energy consumption minimization, are discussed and experimental results are presented in order to validate the proposed simulator.