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Journal articles on the topic 'Distributed components'

Author: Grafiati

Published: 4 June 2021

Last updated: 11 February 2022

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1

Tzou, H. S., and J. H. Ding. "Distributed Modal Voltages of Nonlinear Paraboloidal Shells With Distributed Neurons." Journal of Vibration and Acoustics 126, no. 1 (January 1, 2004): 47–53. http://dx.doi.org/10.1115/1.1640359.

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Effective health monitoring and distributed control of advanced structures depends on accurate measurements of dynamic responses of elastic structures. Conventional sensors used for structural measurement are usually add-on “discrete” devices. Lightweight distributed thin-film piezoelectric neurons fully integrated (laminated or embedded) with structural components can serve as in-situ sensors monitoring structure’s dynamic state and health status. This study is to investigate modal voltages and detailed signal contributions of linear or nonlinear paraboloidal shells of revolution laminated with piezoelectric neurons. Signal generation of distributed neuron sensors laminated on paraboloidal shells is defined first, based on the open-voltage assumption and Maxwell’s principle. The neuron signal of a linear paraboloidal shell is composed of a linear membrane component and a linear bending component; the signal of a nonlinear paraboloidal shell is composed of nonlinear and linear membrane components and a linear bending component due to the von Karman geometric nonlinearity. Signal components and distributed modal voltages of linear and nonlinear paraboloidal shells with various curvatures and thickness are investigated.

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2

Oliveira, Manuel, Jon Crowcroft, and Mel Slater. "Components for Distributed Virtual Environments." Presence: Teleoperators and Virtual Environments 10, no. 1 (February 2001): 51–61. http://dx.doi.org/10.1162/105474601750182315.

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A virtual environment (VE) presents a complex problem with interesting nontrivial challenges for software development. The problems increase when considering VEs that are both distributed and shared among multiple participants. The majority of existing systems supporting large-scale VEs (LSVEs) are based on monolithic architectures, making maintenance and software reuse difficult at best. These problems have begun to be addressed by recent VE systems that employ software engineering principles in their design. Although modularity is addressed, many other issues remain unsolved, such as interoperability between different systems. The Java Adaptive Dynamic Environment (JADE) is presented as an alternative to the traditional approach for developing a core infrastructure for VE systems. JADE consists of a component framework along with a lightweight cross-platform kernel that permits system evolution at runtime and enables cross-system integration.

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3

Barros, Tomás, Ludovic Henrio, and Eric Madelaine. "Verification of Distributed Hierarchical Components." Electronic Notes in Theoretical Computer Science 160 (August 2006): 41–55. http://dx.doi.org/10.1016/j.entcs.2006.05.014.

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4

PHAM, T., and N. TURKKAN. "RELIABILITY DESIGN FOR TWO-COMPONENT SYSTEMS WITH GAMMA-DISTRIBUTED COMPONENTS." International Journal of Reliability, Quality and Safety Engineering 03, no. 03 (September 1996): 203–15. http://dx.doi.org/10.1142/s0218539396000144.

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The design of a system, for reliability purposes, often requires the exact expression of its reliability function, which, however, is seldom available in closed form. Approximate methods are non-optimal and could even lead to errors. For two-component systems, with independent Gamma-distributed components, it is shown here that we can accurately determine the second component, within various configurations, when the first component is supposed known. Both classical and Bayesian approaches are considered.

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5

Kono, Hitoshi, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama. "Distributed Cooperative Fault Diagnosis for Internal Electrical Components of Robot System." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 235–36. http://dx.doi.org/10.1299/jsmeicam.2015.6.235.

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6

Barros, Tomás, Rabéa Ameur-Boulifa, Antonio Cansado, Ludovic Henrio, and Eric Madelaine. "Behavioural models for distributed Fractal components." annals of telecommunications - annales des télécommunications 64, no. 1-2 (January 10, 2009): 25–43. http://dx.doi.org/10.1007/s12243-008-0069-7.

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7

Kythe, Dave K. "The promise of distributed business components." AT&T Technical Journal 75, no. 2 (March 1996): 20–28. http://dx.doi.org/10.15325/atttj.1996.6771125.

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8

Ben-Shaul, I., and G. Kaiser. "Coordinating distributed components over the Internet." IEEE Internet Computing 2, no. 2 (1998): 83–86. http://dx.doi.org/10.1109/4236.670689.

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9

Wagner, Aaron B., Benjamin G. Kelly, and Yücel Altug. "Distributed Rate-Distortion With Common Components." IEEE Transactions on Information Theory 57, no. 7 (July 2011): 4035–57. http://dx.doi.org/10.1109/tit.2011.2145570.

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10

Griffin, Jeremiah, Mohsen Lesani, Narges Shadab, and Xizhe Yin. "TLC: temporal logic of distributed components." Proceedings of the ACM on Programming Languages 4, ICFP (August 2, 2020): 1–30. http://dx.doi.org/10.1145/3409005.

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11

Ribeiro-Justo, George R., Ahmed Saleh, and Tereska Karran. "Intelligent Reconfiguration of Dynamic Distributed Components." Electronic Notes in Theoretical Computer Science 180, no. 2 (June 2007): 91–106. http://dx.doi.org/10.1016/j.entcs.2006.08.039.

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12

Guedea-Elizalde, Federico, Rogelio Soto, Fakhreddine Karray, and Insop Song. "Building Intelligent Robotics Systems with Distributed Components." Journal of Advanced Computational Intelligence and Intelligent Informatics 10, no. 2 (March 20, 2006): 173–80. http://dx.doi.org/10.20965/jaciii.2006.p0173.

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Building an intelligent robot system has been an extensive research area. There are many advances in components needed to construct the robotic system, such as vision systems, sensory systems, planning systems, among others. Integration of this components represents a big challenge for robot designers, due to they come from different vendors and with different interfaces or operating systems. This is more difficult if the overall system development has to deal with environmental uncertainties or changing conditions. In these cases, new tools and equipment are necessary to adapt the initial configuration to the new changing requirements. Each added component increases the complexity of the system due to the interconnection required with the previous components. In this work, we present an approach to solve this integration problem using concepts of distributed computing areas. We named this concept Wrapper Components. This concept is based on a standard middleware software specification. Wrapper components are object-oriented modules that create an abstract interface for a specific class of hardware or software components. If these components provide “intelligent” functions, the overall system is capable of show some basic smart behavior through specific actions to react under changes in the environment. We tested our approach by solving an experimental classical problem named block-world. The intelligent functions are object recognition, environment recognition, planning, tracking capabilities and robot arm control.

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13

Lee, Sunghee, Heungjun Park, and Woo Jin Lee. "Design of ZeroMQ-Based Cooperative Simulation Framework for Distributed Code and Model Components." International Journal of Future Computer and Communication 4, no. 4 (2015): 258–61. http://dx.doi.org/10.7763/ijfcc.2015.v4.397.

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14

Fiore, Stephen M., Haydee M. Cuevas, Eduardo Salas, and Jonathan W. Schooler. "Distributed Teams and Distributed Memory." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 46, no. 3 (September 2002): 398–402. http://dx.doi.org/10.1177/154193120204600339.

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The nature of teams is changing in that the implementation of distributed teams as a definable organizational unit has substantially increased. In this paper we discuss a portion of the cognitive processes potentially impacting distributed team performance. We elaborate on how team opacity arising from distributed interaction can impact team cognition, with an emphasis on the critical memory components that are foundational to the development and implementation of shared mental models.

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15

Pang, Jianxiong, and Lynne Blair. "Separating Interaction Concerns from Distributed Feature Components." Electronic Notes in Theoretical Computer Science 82, no. 5 (April 2003): 70–84. http://dx.doi.org/10.1016/s1571-0661(04)80735-7.

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16

Bohrer, Kathy, Verlyn Johnson, Anders Nilsson, and Bradley Rubin. "Business process components for distributed object applications." Communications of the ACM 41, no. 6 (June 1998): 43–48. http://dx.doi.org/10.1145/276609.276618.

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17

Arwade, Sanjay R. "Translation vectors with non-identically distributed components." Probabilistic Engineering Mechanics 20, no. 2 (April 2005): 158–67. http://dx.doi.org/10.1016/j.probengmech.2005.02.002.

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18

McLendon III, William, Bruce Hendrickson, Steven J. Plimpton, and Lawrence Rauchwerger. "Finding strongly connected components in distributed graphs." Journal of Parallel and Distributed Computing 65, no. 8 (August 2005): 901–10. http://dx.doi.org/10.1016/j.jpdc.2005.03.007.

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19

Liu, Guo-Chang, Chao Li, Jin-Jin Shao, and Guang-You Fang. "Distributed Field Rotator Composed of Isolated Components." Chinese Physics Letters 31, no. 4 (April 2014): 044101. http://dx.doi.org/10.1088/0256-307x/31/4/044101.

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20

Rooker, Martijn N., Thomas Strasser, Christoph Sünder, Alois Zoitl, and Oliver Hummer. "EVOLUTION CONTROL ENVIRONMENT FOR DISTRIBUTED AUTOMATION COMPONENTS." IFAC Proceedings Volumes 40, no. 3 (2007): 241–46. http://dx.doi.org/10.3182/20070523-3-es-4908.00040.

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21

Berger, Moritz, Michael Wagner, and Matthias Schmid. "Modeling biomarker ratios with gamma distributed components." Annals of Applied Statistics 13, no. 1 (March 2019): 548–72. http://dx.doi.org/10.1214/18-aoas1207.

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22

Repenning, A., A. Ioannidou, M. Payton, Wenming Ye, and J. Roschelle. "Using components for rapid distributed software development." IEEE Software 18, no. 2 (2001): 38–45. http://dx.doi.org/10.1109/52.914739.

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23

Cansado, Antonio, Ludovic Henrio, and Eric Madelaine. "Transparent First-class Futures and Distributed Components." Electronic Notes in Theoretical Computer Science 260 (January 2010): 155–71. http://dx.doi.org/10.1016/j.entcs.2009.12.036.

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24

Barros, Tomás, Antonio Cansado, Eric Madelaine, and Marcela Rivera. "Model-checking Distributed Components: The Vercors Platform." Electronic Notes in Theoretical Computer Science 182 (June 2007): 3–16. http://dx.doi.org/10.1016/j.entcs.2006.09.028.

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25

Nadezhdinskii, A. I., E. V. Stepanov, A. A. Suvernev, and S. I. Temkin. "Line interference of randomly distributed spectral components." Journal of Quantitative Spectroscopy and Radiative Transfer 45, no. 5 (May 1991): 291–303. http://dx.doi.org/10.1016/0022-4073(91)90013-g.

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26

Eskil, M. Taner, Jon Sticklen, and Clark Radcliffe. "The routine design–modular distributed modeling platform for distributed routine design and simulation-based testing of distributed assemblies." Artificial Intelligence for Engineering Design, Analysis and Manufacturing 22, no. 1 (December 12, 2007): 1–18. http://dx.doi.org/10.1017/s0890060408000012.

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AbstractIn this paper we describe a conceptual framework and implementation of a tool that supports task-directed, distributed routine design (RD) augmented with simulation-based design testing. In our research, we leverage the modular distributed modeling (MDM) methodology to simulate the interaction of design components in an assembly. The major improvement we have made in the RD methodology is to extend it with the capabilities of incorporating remotely represented off-the-shelf components in design and simulation-based testing of a distributed assembly. The deliverable of our research is the RD-MDM platform, which is capable of automatically selecting intellectually protected off the shelf design components over the Internet, integrating these components in an assembly, running simulations for design testing, and publishing the approved design without disclosing the proprietary information.

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27

Misra, Neeraj, Ishwari D. Dhariyal, and Nitin Gupta. "Optimal Allocation of Active Spares in Series Systems and Comparison of Component and System Redundancies." Journal of Applied Probability 46, no. 01 (March 2009): 19–34. http://dx.doi.org/10.1017/s0021900200005209.

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We consider the problem of allocating k active spares to n components of a series system in order to optimize its lifetime. Under the hypotheses that lifetimes of n components are identically distributed with distribution function F(⋅), lifetimes of k spares are identically distributed with distribution function G(⋅), lifetimes of components and spares are independently distributed, and that ln(G(x))/ln(F(x)) is increasing in x, we show that the strategy of balanced allocation of spares optimizes the failure rate function of the system. Furthermore, under the hypotheses that lifetimes of n components are stochastically ordered, lifetimes of k spares are identically distributed, and that lifetimes of components and spares are independently distributed, we show that the strategy of balanced allocation of spares is superior to the strategy of allocating a larger number of components to stronger components. For coherent systems consisting of n identical components with n identical redundant (spare) components, we compare strategies of component and system redundancies under the criteria of reversed failure rate and likelihood ratio orderings. When spares and original components do not necessarily match in their life distributions, we provide a sufficient condition, on the structure of the coherent system, for the strategy of component redundancy to be superior to the strategy of system redundancy under reversed failure rate ordering. As a consequence, we show that, for r-out-of-n systems, the strategy of component redundancy is superior to the strategy of system redundancy under the criterion of reversed failure rate ordering. When spares and original components match in their life distributions, we provide a necessary and sufficient condition, on the structure of the coherent system, for the strategy of component redundancy to be superior to the strategy of system redundancy under the likelihood ratio ordering. As a consequence, we show that, for r-out-of-n systems, with spares and original components matching in their life distributions, the strategy of component redundancy is superior to the strategy of system redundancy under the likelihood ratio ordering.

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28

Misra, Neeraj, Ishwari D. Dhariyal, and Nitin Gupta. "Optimal Allocation of Active Spares in Series Systems and Comparison of Component and System Redundancies." Journal of Applied Probability 46, no. 1 (March 2009): 19–34. http://dx.doi.org/10.1239/jap/1238592114.

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We consider the problem of allocating k active spares to n components of a series system in order to optimize its lifetime. Under the hypotheses that lifetimes of n components are identically distributed with distribution function F(⋅), lifetimes of k spares are identically distributed with distribution function G(⋅), lifetimes of components and spares are independently distributed, and that ln(G(x))/ln(F(x)) is increasing in x, we show that the strategy of balanced allocation of spares optimizes the failure rate function of the system. Furthermore, under the hypotheses that lifetimes of n components are stochastically ordered, lifetimes of k spares are identically distributed, and that lifetimes of components and spares are independently distributed, we show that the strategy of balanced allocation of spares is superior to the strategy of allocating a larger number of components to stronger components. For coherent systems consisting of n identical components with n identical redundant (spare) components, we compare strategies of component and system redundancies under the criteria of reversed failure rate and likelihood ratio orderings. When spares and original components do not necessarily match in their life distributions, we provide a sufficient condition, on the structure of the coherent system, for the strategy of component redundancy to be superior to the strategy of system redundancy under reversed failure rate ordering. As a consequence, we show that, for r-out-of-n systems, the strategy of component redundancy is superior to the strategy of system redundancy under the criterion of reversed failure rate ordering. When spares and original components match in their life distributions, we provide a necessary and sufficient condition, on the structure of the coherent system, for the strategy of component redundancy to be superior to the strategy of system redundancy under the likelihood ratio ordering. As a consequence, we show that, for r-out-of-n systems, with spares and original components matching in their life distributions, the strategy of component redundancy is superior to the strategy of system redundancy under the likelihood ratio ordering.

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29

KURZYNIEC, DAWID, TOMASZ WRZOSEK, DOMINIK DRZEWIECKI, and VAIDY SUNDERAM. "TOWARDS SELF-ORGANIZING DISTRIBUTED COMPUTING FRAMEWORKS: THE H2O APPROACH." Parallel Processing Letters 13, no. 02 (June 2003): 273–90. http://dx.doi.org/10.1142/s0129626403001276.

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A novel component-based, service-oriented framework for distributed metacomputing is described. Adopting a provider-centric view of resource sharing, this framework emphasizes lightweight software infrastructures that maintain minimal state, and interface to current and emerging distributed computing standards. In this model, resource owners host a software backplane onto which owners, clients, or third-party resellers may load components or component-suites that deliver value added services without compromising owner security or control. Standards-based descriptions of services facilitate publication and discovery via established schemes. The architecture of the container framework, design of components, security and access control schemes, and preliminary experiences are described in this paper.

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30

Wang, Hui, and Yun Wang. "Designing Fault Tolerance Strategy by Iterative Redundancy for Component-Based Distributed Computing Systems." Mathematical Problems in Engineering 2014 (2014): 1–11. http://dx.doi.org/10.1155/2014/197423.

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Reliability is a critical issue for component-based distributed computing systems, some distributed software allows the existence of large numbers of potentially faulty components on an open network. Faults are inevitable in this large-scale, complex, distributed components setting, which may include a lot of untrustworthy parts. How to provide highly reliable component-based distributed systems is a challenging problem and a critical research. Generally, redundancy and replication are utilized to realize the goal of fault tolerance. In this paper, we propose a CFI (critical fault iterative) redundancy technique, by which the efficiency can be guaranteed to make use of resources (e.g., computation and storage) and to create fault-tolerance applications. When operating in an environment with unknown components’ reliability, CFI redundancy is more efficient and adaptive than other techniques (e.g., K-Modular Redundancy and N-Version Programming). In the CFI strategy of redundancy, the function invocation relationships and invocation frequencies are employed to rank the functions’ importance and identify the most vulnerable function implemented via functionally equivalent components. A tradeoff has to be made between efficiency and reliability. In this paper, a formal theoretical analysis and an experimental analysis are presented. Compared with the existing methods, the reliability of components-based distributed system can be greatly improved by tolerating a small part of significant components.

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31

., K. Subba Rao. "DEVELOPING REUSABLE SOFTWARE COMPONENTS FOR DISTRIBUTED EMBEDDED SYSTEMS." International Journal of Research in Engineering and Technology 01, no. 03 (March 25, 2012): 297–301. http://dx.doi.org/10.15623/ijret.2012.0103017.

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32

Saleh, Ahmed, George R. R. Justo, and Stephen C. Winter. "Non-functional Oriented Dynamic Integration Of Distributed Components." Electronic Notes in Theoretical Computer Science 68, no. 3 (March 2003): 405–18. http://dx.doi.org/10.1016/s1571-0661(05)80380-9.

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33

Markopoulou, Athina P., and Miltiades E. Anagnostou. "Optimal grouping of components in a distributed system." Computer Communications 21, no. 16 (October 1998): 1452–61. http://dx.doi.org/10.1016/s0140-3664(98)00170-4.

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34

Gupta, Nitin, Lakshmi Kanta Patra, and Somesh Kumar. "Stochastic comparisons in systems with Frèchet distributed components." Operations Research Letters 43, no. 6 (November 2015): 612–15. http://dx.doi.org/10.1016/j.orl.2015.09.009.

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35

Feridun, M., and J. Krause. "A framework for distributed management with mobile components." Computer Networks 35, no. 1 (January 2001): 25–38. http://dx.doi.org/10.1016/s1389-1286(00)00147-x.

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36

Rana, Imran Ali, Shafiq Aslam, Muhammad Shahzad Sarfraz, and Umar Shoaib. "Analysis of Query Optimization Components in Distributed Database." Indian Journal of Science and Technology 11, no. 18 (May 1, 2018): 1–10. http://dx.doi.org/10.17485/ijst/2018/v11i18/122267.

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37

Bartoli, A., P. Corsini, G. Dini, and C. A. Prete. "Graphical design of distributed applications through reusable components." IEEE Parallel & Distributed Technology: Systems & Applications 3, no. 1 (1995): 37–50. http://dx.doi.org/10.1109/88.384583.

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38

Giron-Sierra, J. M., C. Insaurralde, M. Seminario, J. F. Jimenez, and P. Klose. "CANbus-based distributed fuel system with smart components." IEEE Transactions on Aerospace and Electronic Systems 44, no. 3 (July 2008): 897–912. http://dx.doi.org/10.1109/taes.2008.4655351.

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39

Begnum, Kyrre, and Mark Burgess. "Principle Components and Importance Ranking of Distributed Anomalies." Machine Learning 58, no. 2-3 (February 2005): 217–30. http://dx.doi.org/10.1007/s10994-005-5827-4.

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40

Pokahr, Alexander, and Lars Braubach. "The active components approach for distributed systems development." International Journal of Parallel, Emergent and Distributed Systems 28, no. 4 (August 2013): 321–69. http://dx.doi.org/10.1080/17445760.2013.785546.

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41

McLeay, Stuart. "Boundary Conditions for Ratios with Positively Distributed Components." Journal of Business Finance Accounting 24, no. 1 (January 1997): 67–84. http://dx.doi.org/10.1111/1468-5957.00095.

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42

Cansado, Antonio, Ludovic Henrio, Eric Madelaine, and Pablo Valenzuela. "Unifying Architectural and Behavioural Specifications of Distributed Components." Electronic Notes in Theoretical Computer Science 260 (January 2010): 25–45. http://dx.doi.org/10.1016/j.entcs.2009.12.030.

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43

Feng, Xing, Lijun Chang, Xuemin Lin, Lu Qin, Wenjie Zhang, and Long Yuan. "Distributed computing connected components with linear communication cost." Distributed and Parallel Databases 36, no. 3 (July 18, 2018): 555–92. http://dx.doi.org/10.1007/s10619-018-7232-6.

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44

Rausch, Andreas. "DisCComp – A Formal Model for Distributed Concurrent Components." Electronic Notes in Theoretical Computer Science 176, no. 2 (May 2007): 5–23. http://dx.doi.org/10.1016/j.entcs.2006.02.029.

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45

Puchtler, Wolfgang, and Juergen Schoenhut. "ERLNET—Distributed components of the Erlangen Graphics System." Computers & Graphics 10, no. 2 (January 1986): 143–49. http://dx.doi.org/10.1016/0097-8493(86)90039-7.

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46

Hibbard, William, Curtis Rueden, Steve Emmerson, Tom Rink, David Glowacki, Tom Whittaker, Don Murray, David Fulker, and John Anderson. "Java distributed components for numerical visualization in VisAD." Communications of the ACM 48, no. 3 (March 2005): 98–104. http://dx.doi.org/10.1145/1047671.1047676.

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47

Hohberg, Walter. "How to find biconnected components in distributed networks." Journal of Parallel and Distributed Computing 9, no. 4 (August 1990): 374–86. http://dx.doi.org/10.1016/0743-7315(90)90122-6.

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48

Krutwig, Michael C. "Suitability of OPC UA for distributed energy monitoring." Proceedings of the International Conference on Business Excellence 13, no. 1 (May 1, 2019): 399–410. http://dx.doi.org/10.2478/picbe-2019-0035.

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Abstract According to ISO 50001, energy management systems have become widespread in the manufacturing industry. Especially for most large, energy-intensive companies, an energy management system has become an indispensable component of cost planning and sustainability strategy. Energy monitoring is used for continuously evaluating energy flows. Networked and distributed monitoring in industrial production environments is becoming increasingly common with cyber-physical systems (CPS) and can take advantage of them. Considering this, the OPC Unified Architecture (OPC UA) framework plays a decisive role, as it networks all factory components and creates a standard for interoperability between the components. In a literature review context, this paper examines the flexible OPC UA standard, particularly concerning its applicability to energy monitoring. The research question concerns which OPC UA aspects are of relevance for an energy management system. To reduce the technical resources, a subset of the complete standard tailored to the specific task can also be available in the components. Here, we investigate the requirements an energy-related CPS has to fulfill and extract the standard’s relevant components and characteristics from the OPC UA framework based on these requirements. Using the information model of OPC UA, an energy sensor becomes a CPS. We demonstrate this process in a prototypical implementation.

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49

Liu, Xiao Yan, and Xiao Dong Fu. "Graphical Modeling of a Component-Based Software Architecture for Distributed Real-Time Systems." Applied Mechanics and Materials 462-463 (November 2013): 352–55. http://dx.doi.org/10.4028/www.scientific.net/amm.462-463.352.

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Present a graphical modeling design methodology of component-based software architecture for distributed real-time system. First of all, definitions of real-time application component model, types of component element that are used for describing software architecture, and types of collaboration relationship between components are introduced in a graphical design environment. Secondly a graphical modeling design method of software architecture for distributed real-time system is described. Finally, the graphical modeling method based on components defined is illustrated via an example.

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50

Karray, Fakhri, Rogelio Soto, Federico Guedea, and Insop Song. "Integration of Distributed Robotic Systems." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 1 (January 20, 2004): 7–13. http://dx.doi.org/10.20965/jaciii.2004.p0007.

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Creating a distributed and remote operated robotic system is a very challenging and time-consuming task. This paper contains the development issues taking into account when multiple robotic components are integrated to create a distributed robotic application using the standard middleware, Common Object Request Broker Architecture (CORBA) specification. The main idea is to define a set of generic interfaces using the Interface Definition Language (IDL) that can be used with common components in order to facilitate the integration of new components or the modification of them. The generic IDL interfaces are based on wrapper functions, which provide an abstract encapsulated behaviors of the low level components. The approach is shown using two types of arm manipulators and two different pan-tilt model units. Because of the modularity and the abstraction of this approach, this development can be seen as the first stage in constructing more autonomous and complex system.

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