asp.net mvc generate pdf from view : Change file size of pdf document SDK application service wpf windows .net dnn Merten-201211-part1490

5.5. SYSTEMINTEGRATION
99
5.5.2 SegmentLevelandSubsystemLevel
Thedeveloped hardwareunits,embeddedsystemunits,andtheselectedexternalunitswere
composed on segment and subsystem level. . Figure e 5.16 presents s an overview of the robot
platformandtheintegratedsegments.
Robot Head
Segment
Display/Multimedia
Segment
Low-Level Interaction
Segment
Main Control
Segment
Control Modules
Segment
Battery System
Segment
Charger System
Segment
Vision Sensor
Segment
Distance Sensor
Segment
Motion Sensor
Segment
Drive Motor 
Segment
Figure5.16: SystemsegmentsofthenishedSCITOSG5platform.
5.5.3 SystemLevel
Thenalstepofthecompositionprocessis thecombinationofthesubsystemstotheoverall
robotsystem.Atthisstage,theinteractionofallsystemelementscanbeevaluated.
ThesystemarchitecturerecommendedbytheAHP(Figure4.5)wasrealizedfortheembedded
systemdesign. Therealizedsystemarchitecture e ofthe shoppingrobot includingallinternal
communicationinterfacesispresentedinFigure5.17.
Theredundancyofthismodularsystemarchitectureleadstothehighsafenessandrobustness
oftheshoppingrobotsystem. BothcriteriawerehighlyprioritizedbytheAHP. Someofthe
Change file size of pdf document - Compress reduce PDF size in C#.net, ASP.NET, MVC, Ajax, WinForms, WPF
C# Code & .NET API to Compress & Decompress PDF Document
advanced pdf compressor online; pdf page size limit
Change file size of pdf document - VB.NET PDF File Compress Library: Compress reduce PDF size in vb.net, ASP.NET, MVC, Ajax, WinForms, WPF
VB.NET PDF Document Compression and Decompression Control SDK
adjust file size of pdf; optimize scanned pdf
100
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
Embedded PC
Unit
Motor Control
Unit
Non-Real-Time-Systems
Real-Time-Systems
Robot Head
Control Unit
Sensor Control
Unit
EBC Unit
Interface
Unit
Display
Control Unit
Ultrasonic Sensor
Array Unit
Aux. Charger
Control Unit
Status Display
Unit
User-RFID
Reader Unit
Battery Control
Unit
Head Camera
Unit
Auton. Charger
Control Unit
USB-CAN-Conv.
Unit
Front Camera
Unit
Laser Range
Finder Unit
Head
Cameras
CAN
FireWire
CAN
USB
USB-RS422-Conv.
Unit
I2C
RS232
USB
USB
RS422
4xUSB
E
E
E
E
E
E
E
E
E
E
E
E
X
X
X
X
X
E
X
LVDS
Figure5.17: SystemarchitectureoftheshoppingrobotsystemincludingEmbeddedSystem
Units(E),ExternalUnits(X),andallcommunicationinterfaces.
supportedsafetyfeaturesare:
 Controlofthefunctionalityofallmodulesbasedonperiodicalheartbeatmessages.
 Usageoftimestampstoprovethefunctionalityofthecommunicationsystem.
 ControlofthefunctionalityoftheEmbeddedPCUnitbasedonstatus agsandthepower
consumption.
 Implementationofwatchdogfunctionalities,e.g., tostopthemotors after agiventime
withoutdataupdate.
 Hierarchicalover-currentdetectionandshut-o.
 Redundancyinthemonitoringofsafetysensors.
 Low-levelcommunicationofsystemevents,e.g.,unitfailures.
Thedetectionofasystemfailurecausesasystemreactiondependingontheseriousnessofthe
failure.Forexample,abatteryunder-voltagecausesacompletesystemshutdown;missingdriv-
inginformationcausesthestopofthemotors;ashort-circuitintheRobotHeadSegmentcauses
C# PDF File Split Library: Split, seperate PDF into multiple files
defined pages. Divide PDF file into multiple files by outputting PDF file size. Split PDF document by PDF bookmark and outlines. Also
change page size of pdf document; adjust pdf size
VB.NET PDF File Split Library: Split, seperate PDF into multiple
application. Divide PDF file into multiple files by outputting PDF file size. Split PDF document by PDF bookmark and outlines in VB.NET.
pdf file size; pdf compression
5.6. SYSTEMDELIVERYANDEVALUATION
101
theshut-downofthissegmentwithoutanin uenceonotherfunctionalities. Theimplemented
safetyconceptwasveriedbytheGermanTechnicalInspectionAgency(T
UV).
Functional tests at this project stage were arranged in n the development t and manufacturer
laboratories. Intherstinstance, , thesetests s includedthevericationof allsafety features,
the reliability y of all system functionalities (drive system, , charging systems, communication
systems),andtheevaluationoftheaspiredsystemparameters(maximumspeed,payload,power
consumption,runtime).
5.6 SystemDeliveryandEvaluation
5.6.1 FieldTests
Inthenalstageofthesystemdevelopmentprocess,thefulllmentofallfunctionalandnon-
functionalrequirementshas tobeveried. . For r theshoppingrobotplatform,theseevaluation
processes werearrangedinhomeimprovementstoresoftheprojectpartnerToomBauMarkt
GmbH.Thetests werecarriedoutintwoperiods. . Intherststep,threerobotsystemswere
installedinastorewithasizeofabout7,000m
2
. Therobotswererequiredtobringcustomers
torequestedproductplaces(seeSection5.1.1).Inatestperiodofvemonths(ApriltoAugust
2008),therobotsdroveabout600kmandwereindialogwith3,764users[Grossetal.,2009].
Ina secondtest period,twoadditionalstores wereequippedwiththree robot systems each.
Thesestores hadasizeof 8,000m
2
and10,000m
2
, respectively. . Ina a periodoffour months
(November2008toFebruary2009),theninerobotsinallthreestoresserved9,515customers.
Theoveralldrivingdistanceofallrobotswasabout1,600km.Asurveyattheendofaguided
tour revealedthat 87.9%ofthe users were satisedwith h the functionality y of the robot and
88.5%wouldusetherobotagain. Aboutonefthoftheusers,successfullynishingthetour,
participatedinthesurvey.
Thetwo test periods showedthat therobot systems areable to satisfywalk-inusers andto
robustlymove throughlarge store environments. . Themain n problems s identied d during these
testswereblockedways,whichpreventtherobotfromreachingitsgoalorthelossoflocalization.
Improvementsoftheseconstraintswerecarriedoutinadditionaldevelopmentstepsthatwere
notinthefocusofthisthesis.
Thetestperiodsfurtherrevealedtwotechnicalproblemsoftherobotsystem.First,components
oftheMotorControlUnitwereagingveryfast,becauseofthepermanentstressintheshopping
application. This s ledtoa worsendriving behavior or eventhefallout of the drive system.
Second,thehightemperatureofthechargingstationduringthechargingprocessledtothefall
outoftheintegratedpowerconverterinsomecases. Theexecutionofthelong-termeldtests
VB.NET Image: How to Create Visual Basic .NET Windows Image Viewer
2) Dim FormSizeY As Integer = (Me.Size.Height / 2 Height * zoomFactor))) End Sub ' Save The File Private Sub sfd.FileName) End If End Sub ' Change Zoom Level
reduce pdf file size; best pdf compression
C# PDF Text Box Edit Library: add, delete, update PDF text box in
A web based PDF annotation application able to add text box comments to adobe PDF file online in ASP.NET. Ability to change text size in PDF text box.
change pdf page size; pdf markup text size
102
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
was necessarytondthesedesignfailures. . Bothproblems s werecorrectedaftertheeldtest
period.
5.6.2 SatisfactionoftheAHP P CriteriaandEvaluationofthe Development
Thissectionencompassesthefulllmentofthedevelopmentcriteriaweightedfortheshopping
robotapplication. Thedeterminedimpactofeachcriterion(Section5.1.3)isgiveninbrackets:
Adaptability (6.7%): : The development t process s did not t prioritize e the adaptability y of the
robotsystem.However,therealizationofthemodularsystemarchitectureallowsahighly
exibleadaptationoftherobotsystemtonewapplicationareas(seeSection5.6.3). More-
over,theintegrationofalithium-polymerbatteryfurthersupportsnovelapplications.
OperationTime(4.2%): The e overall power consumptionof the robotsystem islessthan
100W(inaverage),becauseoftheintegrationofconsumptionoptimizedcomponentsand
the possibility to turn-o unused system units. . Basedonthe e 42Ah lead-acid battery
andthedevelopedchargingsystem,therobotsystemcanoperateuptoeighthourswith
onebatterychargeandrequiresthesametimetore-chargeitsbattery. Thesevaluesare
sucientfortheintendedusage.
Theimplementationofthe80Ahlithium-polymerbatteryinanadditionaldevelopment
cycleallowsforoperationtimesofupto16hours.Thechargingtime(foranempty80Ah
battery)islessthaneighthours. Thisbatterysystemcompletelysatisesthiscriterion.
Usability(17.0%): Theeldtests s provetheusabilityoftherobotsystem. . Theintegration
ofsystemelementsforuserinteraction(i.e.,display,loudspeakers,andmicrophones)was
suitable. The e size andshape of the robot as wellas the realizationofthe robot head
appeartobehighlyacceptablebyusers.
Robustness(14.6%): The e design of systemunits s considered the moving g character r of f the
robot platform. . For r example, , bigger r PCBs components are e glued to avoid drop os;
theusageofagingcomponents (e.g.,electrolyticcapacitor) wasavoidedifpossible. . For
theselectionofexternalunits(e.g.,laserrange nder or the embeddedPC),industrial
componentswerepreferredoverconsumerproducts.
Safeness(37.4%): Safeness was s themost importantcriterionforthedevelopmentprocess,
which was addressed by system redundancy y andthe integration n of additional security
functions (e.g.,forcedreduceddrivingspeeds innarrowareas). . Thepassingofalleval-
uationprocesses of theGermanTechnicalInspectionAgency (T
UV) demonstratedthe
completesatisfactionofthiscriterion.
Features(6.7%): Theintegratedtechnologiesarelimitedtotherequirementsoftheshopping
robotapplication. Aspecialattentiontoadditionalfeatureforfuturedevelopmentswas
C# PDF insert text Library: insert text into PDF content in C#.net
Ability to change text font, color, size and location and page, we will demonstrate how to use C#.NET class code to add and insert text to PDF file page.
pdf page size may not be reduced; adjust size of pdf
C# PDF Convert: How to Convert Word, Excel, PowerPoint, Tiff
Support rendering image to a PDF document page, no change for image size. Conversion from other files to PDF file can be accomplished within seconds.
change font size in pdf fillable form; pdf file compression
5.6. SYSTEMDELIVERYANDEVALUATION
103
notarranged. Nevertheless,thehighadaptabilityofthisrobotallowsfortheintegration
ofadditionalfeatures(e.g.,depthcameras).
Costs(13.4%): Thedevelopmentprocesswascarriedoutunderconsiderationofcostsaspect.
However, theintegration of amodular r systemarchitecture andindustrialcomponents,
requiredforthesatisfactionofthecriteriaSafenessandRobustness,forcedhighersystem
costs than n expected. . The e design of amobile robot system for public applications is a
trade-obetweenrequiredsafenessandacceptablecosts.Thesuccessfulconsiderationof
bothaspectscanbedeterminedonthesalesguresofaservicerobot(seeSection5.6.3).
5.6.3 ApplicationoftheShoppingRobotSystem
Inadditiontothedescribedapplicationinhome-improvementstores,theshoppingrobotsystem
isusedinothershoppingandguidanceapplications. Examples s arethetwoinnovationguides
Figure5.18: Furtherapplicationsoftheshoppingrobotsystem. Top-Left: innovationguide
Allyinthereal,-futurestoreinTonisvorst [Metro,2011]. . Top-Right: : monitoringrobots s in
theproductioncleanroomatInneonTechnologiesinDresden[Inneon,2011].Bottom-Left:
aSCITOSA5guidancesystematatradefairinItaly. Bottom-Right: aSCITOSG5platform
usedfortheresearchonRFID-basedlocalizationalgorithms[Zell,2011].
C# PDF Sticky Note Library: add, delete, update PDF note in C#.net
Allow users to add comments online in ASPX webpage. Able to change font size in PDF comment box. Able to save and print sticky notes in PDF file.
best way to compress pdf files; change font size fillable pdf
C# Create PDF from Word Library to convert docx, doc to PDF in C#.
Change Word hyperlink to PDF hyperlink and bookmark. zoomValue, The magnification of the original PDF page size. 0.1f
best compression pdf; pdf optimized format
104
CHAPTER5. DEVELOPMENTOFTHESHOPPINGROBOTPLATFORM
Roger andAlly inthereal,-futurestore e inTonisvorst(Figure5.18,top-left),ortheshopping
guideWerner inseveralConradelectronicstoresinGermany. Thedevelopedsystemwasalso
appliedtoexhibitions andtrade fairs,e.g., , Macropak k 2010intheNetherlands or Ecomondo
2011inItaly(Figure5.18,bottom-left).
Moreover,thehighadaptability andtherobustnessofthedevelopedrobotsystemallows for
the usage of this systemin other application areas. . Successfulrealizations s in n theindustrial
sector are the monitoring robots at Inneon n Technologies. . These e robots are equippedwith
analysis devices to controlthe air contaminationin n cleanroom productionfacilities s (Figure
5.18,top-right).Therobotsdriveautonomouslytodesignatedlocationstocheckenvironmental
parametersbasedonaprogrammedmeasuringplan.
In the research sector,the robot t base is used d for r the development ofalgorithms for human-
machine-interaction[Kraftet al.,2010],localization(Figure5.18,bottom-right)[Vorstet al.,
2011], or r navigation n [Nehmzow, 2009]. . For r the e research on n manipulation tasks, the e robot
platformisalsousedincombinationwithrobotarmsthatareconnectedtotherobot’spower
suppliesandcommunicationinterfaces[Burbridgeetal.,2011].
105
Chapter6
DevelopmentoftheHome-Care
RobotPlatform
In the previous s chapter,a systemdesignmethod d for r complex robot systems was engineered
on the exampleofa shopping robot t application. . TheV-Modelwas s adaptedfor the specic
demandsofarobotsystem. Interestingly,theAHPwas s usedtosupport thedecisionsinthe
V-Modelprocess. Thisrequiredthecarefulselectionofdecisioncriteriaandtheweightingof
designalternatives.
Inthischapter,theprinciplesofthedevelopedsystemdesignmethodwillbegeneralizedandver-
iedonasecondservicerobotsystemforhome-careapplications.Thisrobotsystem,developed
inthecourseoftheCompanionAbleproject(seeChapter1.1),isplannedtohelpelderlypersons
stayinglongerintheirfamiliarenvironments. Thischapterwilldemonstratethat,althoughthe
shoppingandthehome-careapplicationhavedierentsystemrequirements, operationareas,
andfunctionalities,thesuggestedsystemdesignmethod(V-Model+AHP)canbesuccessfully
applied.
6.1 SystemSpecication
InitialSituationandObjectives
The number of persons s with cognitive disabilities rises with the e increasing g average life e ex-
pectancy. Especially, , people withAlzheimers s disease require acomprehensive care to avoid
isolationfromthesociety. Inmanycases,family y membersareoverstrainedwiththerequired
nursing eort or do not have the possibility to care for anelderly person. . The e inclusionof
nursingstaisrestrictedtotime-constrainedtasksseveraltimesperday. Therefore,itisoften
106
CHAPTER6. DEVELOPMENTOFTHEHOME-CAREROBOTPLATFORM
required that t Care Recipients (CRs) move to nursing homes, , which usually y reduces the life
qualityoftheCR.
Theusageofassistiveservicerobotscouldpostponethedate,whenaCR mustleavehis/her
home environmenttomove toanursinghome. . Therobotsystemcouldtakeoverimportant
tasksthatassistasafelivingoftheCRinhis/herhomeenvironment.Suchtasksmightinclude
themonitoring of the health status of aperson(e.g., behavior),the detectionof fall, or the
remindingofactions (e.g., , takingmedicineor r storing keys inthe robot’s tray). . Anassistive
robot system m could further r be used d to enhance e the mental l activity of a person or it t could
functionas acommunicationdevicefor the interactionwithfamily members,friends,or the
CareGivers(CGs)[Grossetal.,2011a],[Grossetal.,2011b].
Thegoalofthedevelopmentdescribedinthefollowingsectionsisthedesignofaninteractive
servicerobotplatformthatprovidesadequatetechnologiesforthefulllmentofthedescribed
tasks. Therobotsystemmustbeabletonavigateinhomeenvironmentsandtointeractwith
elderlypersons.ItmustbeabletodetectcriticalsituationsoftheCRbasedontheintegrated
sensorsystemsandtoalertCGs,ifnecessary. Therobotshouldsupportfamilymembersand
CGbasedoninteractionandmonitoringfunctionalities.Itisnotintendedtomanipulateobjects
orpersons.
FunctionalRequirements
Thefollowinguse cases cover the mainfunctionalitiesthat needtobe consideredduringthe
robotplatformdevelopmentprocess:
UseCases1: SearchingforaPerson
Abstract: Therobotdrivesautonomouslythroughthehomeenvironmentandsearchesforapersonin
anyposition(standing,sitting,orlying).
Sequence:
 Therobotdrivesthroughthehomeenvironmentandavoidscollisionswithobstacles.
 Usingvideoinput,soundinput,andtheinputfromadepthcamera,therobottriestodetect t a
person.
 Iftherobotdetectsaperson,itapproachesthepersonusingitsnavigationsensors.
 Aftertherobotreachestheassumedpositionoftheperson,itstartsinteraction.
Subtasks:
 Navigationthroughagivenenvironment
6.1. SYSTEMSPECIFICATION
107
 Obstacledetectionandcollisionavoidance
 Drivedeactivationincaseofacollision
 Detectionofpersonsinthegivenenvironment
 Drivetothepositionofthepersonandapproachtheperson
 Soundreplaytointeractwiththeperson
 Inputofinformationonatouchscreen
 Inputofspeechcommandsbymicrophones
UseCases2: InteractionwithaPerson
Abstract: Therobotdrivesonrequesttoapersonandinteractswiththisperson.
Sequence:
 Thepersoncallsfortherobot.
 Therobotdetectsthecallandidentiesthecommand.
 Therobotdetectsthepositionofthepersonanddrivestothislocation.
 Afterreachingthepositionoftheperson,therobotoersitsservicesbasedonatouchscreenand
speechoutput.
 Thepersonselectsaservicebasedonvoicecontrolorbyusingthetouchscreen.
 Therobotstarts,e.g.,avideotelephonytoafamilymember.
Subtasks:
 Identicationandanalysisofvoicecommands
 Estimationofthedirection,wherethevoicecommandwascomingfrom
 Drivingtoapositionandsearchingforaperson
 Interactingwithapersonbasedonvoiceinputandspeechoutput
 Interactingwithapersonbasedonatouchscreen
 Executionofvideotelephony
UseCases3: RemoteControl
Abstract: Therobotis s remotelycontrolledbyafamilymemberoraCareGiver(CG). . Itavoidsthe
collisionwithobstacles.
Sequence:
 ACGcontrolstherobotbymeansofawirelessconnection.
108
CHAPTER6. DEVELOPMENTOFTHEHOME-CAREROBOTPLATFORM
 TheCGisabletoseeavideooftherobot’ssurrounding.
 TheCGisabletocontrolthemovementoftherobot.
 Therobotdetectsobstaclesandstopsthemovementbeforeitcollides.
Subtasks:
 ConnectionofaCGtotherobotbasedonawirelessconnection
 Controlofthedrivesystembasedonawirelessconnection
 Transferofvideoinformationoftherobot’ssurrounding
 Monitoringoftheremotecontrolprocessandstoppingofthemotorsbeforeacollisionoccurs
UseCases4: ChargingProcess
Abstract: Therobotdiagnosesanemptybattery,drivestoachargingstation,anddocks-ontothethis
station.
Sequence:
 Therobotdetectsthatthebatterychargedropsbelowadenedthreshold.
 Therobotstopsitscurrenttaskanddrivesautonomouslytothelocationofachargingstation.
 Therobotdetectsthechargingstationandstartsthedockingprocesstothisstation.
 Afterreachingthenalposition,therobotstartsthechargingprocess.
 Incaseofauserrequestorrelledbatteries,therobotdocks-ofromthechargingstation.
Subtasks:
 Estimationoftherobot’sbatterycharge
 Drivingtoagivenlocation,avoidanceofcollisions
 Detectionofachargingstationanddockingtothisstation
 Startingandstoppingofthechargingprocess
RequirementLists
Thefollowingrequirementslistswerecompiledbasedonthedescribedusecasesandclassied
intofunctionalgroups.Everyrequirementisweightedbyapriority(mandatory(M),desirable
(D),oroptional(O)).
Documents you may be interested
Documents you may be interested