Miroslav Zarić

Multitarget/multiprotocol client application for search and retrieval of bibliographic records

Purpose – The aim of the research is modelling and implementation of a client application that enables parallel search and retrieval of bibliographic records from multiple servers. The client application supports simultaneous communication over Z39.50 and SRW/SRU protocols. The application design is flexible and later addition of other communication protocols for search/retrieval is envisioned and supported.Design/methodology/approach – Object‐oriented approach has been used for modelling and implementation of client application. CASE tool, Sybase PowerDesigner, supporting Unified Modelling Language (UML 2.0), was used for modelling. Java programming language and Eclipse environment were used for implementation.Findings – The result of the research is a client application that enables parallel search and retrieval of multiple Z39.50 and SRW/SRU servers. Additionally, the application supports conversion from type‐1 query language, defined by Z39.50 standard, to CQL query language required for search/retrie...

Multilayer document model for semantic document management services

Purpose The purpose of this paper is to identify the benefits of an approach in which document management systems (DMSs) are based on a formal and explicit document model, primarily in terms of facilitating domain-specific customization. Design/methodology/approach Within this paper, a generic document model is proposed. The model consists of two layers. A general purpose layer, which represents common features of the documents, and a domain-specific layer, modeling properties particular to application domain. The general purpose layer is based on ISO 82045, providing high degree of interoperability with other systems developed with respect to this set of standard. Findings Splitting document model into the layers enables DMSs to be tailored for each particular domain of application, depending on the general purpose layer. The existence of domain-specific layer allows documents to be interpreted differently in different domains of application. Practical implications In order to enable customization of DMS for a particular domain, the implementation of domain-specific document layer is required. Also, the proposed model does not explicitly deal with document dynamics. Originality/value The proposed document ontology is general enough to provide the representation of documents not depending on a specific scope of application, yet flexible enough to enable extensions through which domain-specific document features can be expressed. The separation of document model enables development of core DMS offering services relying explicitly on the general purpose layer on one hand, as well as domain-specific customization of DMS on the other.

Motion planning of a robot in real-time based on the general model of humanoid robots

Humanoid robots are the most illustrative representatives of complex cyber-physical systems. They are high-dimensional and highly coupled non-linear systems. Moreover, walking humanoid robots are underactuated with friction-limited unilateral contacts with the ground. These facts justify the need for hard real-time control of a robots motion. Even the smallest delay in calculating the reference motion or setting the output control variable can lead to a catastrophic outcome. For this reason, most of the existing robotic control systems are real-time and custom made, intended for a specific robot (or family of robots). There is no platform offering a general tool to design the model of versatile configurations of robots and to use it in the model-based control algorithms in hard real-time. In this paper, a software tool for modelling of an articulated system consisting of several open branched kinematic chains for a hard real-time OS is proposed. The model of the robot can possess an arbitrary number of links. The software is developed on top of the QNX Neutrino real-time operating system, thus providing the precise execution of time-critical events. In the experiment, the advantages of using the general model by modelling one real robotic configuration with multiple branched kinematic chains will be shown. The processing performance during the on-line motion planning will be tested on a real-time platform running on ARM Cortex-A8 processor. The results will be compared with similar software running in a non-real-time simulation environment.